/**
 * Marlin Firmware
 *
 * Based on Sprinter and grbl.
 * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 * About Marlin
 *
 * This firmware is a mashup between Sprinter and grbl.
 *  - https://github.com/kliment/Sprinter
 *  - https://github.com/simen/grbl/tree
 *
 * It has preliminary support for Matthew Roberts advance algorithm
 *  - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
 */

#include "Marlin.h"

#if ENABLED(ENABLE_AUTO_BED_LEVELING)
  #include "vector_3.h"
  #if ENABLED(AUTO_BED_LEVELING_GRID)
    #include "qr_solve.h"
  #endif
#endif // ENABLE_AUTO_BED_LEVELING


#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "cardreader.h"
#include "watchdog.h"
#include "configuration_store.h"
#include "language.h"
#include "pins_arduino.h"
#include "math.h"
#include "buzzer.h"

#if ENABLED(BLINKM)
  #include "blinkm.h"
  #include "Wire.h"
#endif

#if HAS_SERVOS
  #include "servo.h"
#endif

#if HAS_DIGIPOTSS
  #include <SPI.h>
#endif

#if ENABLED(FIRMWARE_TEST)
  #include "firmware_test.h"
#endif

/**
 * Look here for descriptions of G-codes:
 *  - http://linuxcnc.org/handbook/gcode/g-code.html
 *  - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
 *
 * Help us document these G-codes online:
 *  - http://reprap.org/wiki/G-code
 *  - https://github.com/MagoKimbra/MarlinKimbra/blob/master/Documentation/GCodes.md
 *
 * -----------------
 * Implemented Codes
 * -----------------
 *
 * "G" Codes
 *
 * G0  -> G1
 * G1  - Coordinated Movement X Y Z E
 * G2  - CW ARC
 * G3  - CCW ARC
 * G4  - Dwell S<seconds> or P<milliseconds>
 * G10 - retract filament according to settings of M207
 * G11 - retract recover filament according to settings of M208
 * G28 - Home one or more axes
 * G29 - Detailed Z-Probe, probes the bed at 3 or more points.  Will fail if you haven't homed yet.
 * G30 - Single Z Probe, probes bed at current XY location. - Bed Probe and Delta geometry Autocalibration
 * G31 - Dock sled (Z_PROBE_SLED only)
 * G32 - Undock sled (Z_PROBE_SLED only)
 * G60 - Save current position coordinates (all axes, for active extruder).
 *        S<SLOT> - specifies memory slot # (0-based) to save into (default 0).
 * G61 - Apply/restore saved coordinates to the active extruder.
 *        X Y Z E - Value to add at stored coordinates.
 *        F<speed> - Set Feedrate.
 *        S<SLOT> - specifies memory slot # (0-based) to restore from (default 0).
 * G90 - Use Absolute Coordinates
 * G91 - Use Relative Coordinates
 * G92 - Set current position to coordinates given
 *
 * "M" Codes
 *
 * M0   - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
 * M1   - Same as M0
 * M3   - Put S<value> in laser beam control
 * M4   - Turn on laser beam
 * M5   - Turn off laser beam
 * M11  - Start printer for pause mode
 * M17  - Enable/Power all stepper motors
 * M18  - Disable all stepper motors; same as M84
 * M20  - List SD card
 * M21  - Init SD card
 * M22  - Release SD card
 * M23  - Select SD file (M23 filename.g)
 * M24  - Start/resume SD print
 * M25  - Pause SD print
 * M26  - Set SD position in bytes (M26 S12345)
 * M27  - Report SD print status
 * M28  - Start SD write (M28 filename.g)
 * M29  - Stop SD write
 * M30  - Delete file from SD (M30 filename.g)
 * M31  - Output time since last M109 or SD card start to serial
 * M32  - Select file and start SD print (Can be used _while_ printing from SD card files):
 *        syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
 *        Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
 *        The '#' is necessary when calling from within sd files, as it stops buffer prereading
 * M33  - Get the longname version of a path
 * M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
 * M48  - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
 * M80  - Turn on Power Supply
 * M81  - Turn off Power Supply
 * M82  - Set E codes absolute (default)
 * M83  - Set E codes relative while in Absolute Coordinates (G90) mode
 * M84  - Disable steppers until next move,
 *        or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
 * M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
 * M92  - Set axis_steps_per_unit - same syntax as G92
 * M104 - Set extruder target temp
 * M105 - Read current temp
 * M106 - Fan on
 * M107 - Fan off
 * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
 *        Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
 *        IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
 * M100 - Watch Free Memory (For Debugging Only)
 * M110 - Set the current line number
 * M111 - Set debug flags with S<mask>. See flag bits defined in Marlin.h.
 * M112 - Emergency stop
 * M114 - Output current position to serial port, (V)erbose for user
 * M115 - Capabilities string
 * M117 - Display a message on the controller screen
 * M119 - Output Endstop status to serial port
 * M120 - Enable endstop detection
 * M121 - Disable endstop detection
 * M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
 * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
 * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 * M140 - Set bed target temp
 * M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
 * M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
 * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
 *        Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
 * M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D<millimeters>- 
 * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
 * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
 * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
 * M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
 * M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
 * M206 - Set additional homing offset
 * M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
 * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
 * M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
 * M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
 * M220 - Set speed factor override percentage: S<factor in percent>
 * M221 - Set extrude factor override percentage: S<factor in percent>
 * M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
 * M240 - Trigger a camera to take a photograph
 * M250 - Set LCD contrast C<contrast value> (value 0..63)
 * M280 - Set servo position absolute. P: servo index, S: angle or microseconds
 * M300 - Play beep sound S<frequency Hz> P<duration ms>
 * M301 - Set PID parameters P I and D
 * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
 * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
 * M304 - Set bed PID parameters P I and D
 * M350 - Set microstepping mode.
 * M351 - Toggle MS1 MS2 pins directly.
 * M380 - Activate solenoid on active extruder
 * M381 - Disable all solenoids
 * M400 - Finish all moves
 * M401 - Lower z-probe if present
 * M402 - Raise z-probe if present
 * M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
 * M405 - Turn on Filament Sensor extrusion control.  Optional D<delay in cm> to set delay in centimeters between sensor and extruder
 * M406 - Turn off Filament Sensor extrusion control
 * M407 - Display measured filament diameter
 * M410 - Quickstop. Abort all the planned moves
 * M428 - Set the home_offset logically based on the current_position
 * M500 - Store parameters in EEPROM
 * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
 * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
 * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
 * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
 * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
 * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
 * M666 - Set z probe offset or Endstop and delta geometry adjustment
 * M907 - Set digital trimpot motor current using axis codes.
 * M908 - Control digital trimpot directly.
 *
 * ************ SCARA Specific - This can change to suit future G-code regulations
 * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
 * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
 * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
 * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
 * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
 * M365 - SCARA calibration: Scaling factor, X, Y, Z axis
 * ************* SCARA End ***************
 *
 * M928 - Start SD logging (M928 filename.g) - ended by M29
 * M997 - NPR2 Color rotate
 * M999 - Restart after being stopped by error
 *
 * "T" Codes
 *
 * T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
 *
 */

#if ENABLED(M100_FREE_MEMORY_WATCHER)
  void gcode_M100();
#endif

#if ENABLED(SDSUPPORT)
  CardReader card;
#endif

bool Running = true;

uint8_t debugLevel = DEBUG_INFO|DEBUG_ERRORS;

static float feedrate = 1500.0, saved_feedrate;
float current_position[NUM_AXIS] = { 0.0 };
float destination[NUM_AXIS] = { 0.0 };
bool axis_known_position[3] = { false };

bool pos_saved = false;
float stored_position[NUM_POSITON_SLOTS][NUM_AXIS];

static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;

static char *current_command, *current_command_args;
static int cmd_queue_index_r = 0;
static int cmd_queue_index_w = 0;
static int commands_in_queue = 0;
static char command_queue[BUFSIZE][MAX_CMD_SIZE];

float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedrate_multiplier = 100; //100->1 200->2
int saved_feedrate_multiplier;
int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA);
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS(1.0);
float home_offset[3] = { 0 };
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };

uint8_t active_extruder = 0;
uint8_t active_driver = 0;

int fanSpeed = 0;
bool cancel_heatup = false;

const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};

static bool relative_mode = false;  //Determines Absolute or Relative Coordinates
static char serial_char;
static int serial_count = 0;
static boolean comment_mode = false;
static char *seen_pointer; // < A pointer to find chars in the command string (X, Y, Z, E, etc.)
const char* queued_commands_P = NULL; /* pointer to the current line in the active sequence of commands, or NULL when none */
const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
// Inactivity shutdown
millis_t previous_cmd_ms = 0;
static millis_t max_inactive_time = 0;
static millis_t stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME * 1000L;
millis_t print_job_start_ms = 0; ///< Print job start time
millis_t print_job_stop_ms = 0;  ///< Print job stop time
static uint8_t target_extruder;
bool no_wait_for_cooling = true;
bool target_direction;

unsigned long printer_usage_seconds;

#if DISABLED(DELTA)
  int xy_travel_speed = XY_TRAVEL_SPEED;
  float zprobe_zoffset = 0;
#endif

#if ENABLED(Z_DUAL_ENDSTOPS) && DISABLED(DELTA)
  float z_endstop_adj = 0;
#endif

// Hotend offset
#if HOTENDS > 1
  #ifndef DUAL_X_CARRIAGE
    #define NUM_HOTEND_OFFSETS 2 // only in XY plane
  #else
    #define NUM_HOTEND_OFFSETS 3 // supports offsets in XYZ plane
  #endif
  float hotend_offset[NUM_HOTEND_OFFSETS][HOTENDS];
#endif

#if ENABLED(NPR2)
  int old_color = 99;
#endif

#if HAS_SERVO_ENDSTOPS
  const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
  const int servo_endstop_angle[][2] = {X_ENDSTOP_SERVO_ANGLES, Y_ENDSTOP_SERVO_ANGLES, Z_ENDSTOP_SERVO_ANGLES};
#endif

#if ENABLED(BARICUDA)
  int ValvePressure = 0;
  int EtoPPressure = 0;
#endif

#if ENABLED(FWRETRACT)

  bool autoretract_enabled = false;
  bool retracted[EXTRUDERS] = { false };
  bool retracted_swap[EXTRUDERS] = { false };

  float retract_length = RETRACT_LENGTH;
  float retract_length_swap = RETRACT_LENGTH_SWAP;
  float retract_feedrate = RETRACT_FEEDRATE;
  float retract_zlift = RETRACT_ZLIFT;
  float retract_recover_length = RETRACT_RECOVER_LENGTH;
  float retract_recover_length_swap = RETRACT_RECOVER_LENGTH_SWAP;
  float retract_recover_feedrate = RETRACT_RECOVER_FEEDRATE;

#endif // FWRETRACT

#if ENABLED(ULTIPANEL) && HAS_POWER_SWITCH
  bool powersupply = 
    #if ENABLED(PS_DEFAULT_OFF)
      false
    #else
      true
    #endif
  ;
#endif

#if ENABLED(DELTA)
  float delta[3] = { 0.0 };
  float delta_tmp[3] = { 0.0 };
  float endstop_adj[3] = { 0 };
  float diagrod_adj[3] = { 0 };
  float saved_endstop_adj[3] = { 0 };
  float tower_adj[6] = { 0 };
  float delta_radius; // = DEFAULT_delta_radius;
  float delta_diagonal_rod; // = DEFAULT_DELTA_DIAGONAL_ROD;
  float DELTA_DIAGONAL_ROD1_2;
  float DELTA_DIAGONAL_ROD2_2;
  float DELTA_DIAGONAL_ROD3_2;
  float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
  float ac_prec = AUTOCALIBRATION_PRECISION;
  float delta_tower1_x, delta_tower1_y,
        delta_tower2_x, delta_tower2_y,
        delta_tower3_x, delta_tower3_y;
  float base_max_pos[3] = {X_MAX_POS, Y_MAX_POS, Z_MAX_POS};
  float base_home_pos[3] = {X_HOME_POS, Y_HOME_POS, Z_HOME_POS};
  float max_length[3] = {X_MAX_LENGTH, Y_MAX_LENGTH, Z_MAX_LENGTH};
  float z_probe_offset[3] = Z_PROBE_OFFSET;
  float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
  int delta_grid_spacing[2] = { 0, 0 };
  const float bed_radius = DELTA_PROBABLE_RADIUS;
  const float z_probe_deploy_start_location[] = Z_PROBE_DEPLOY_START_LOCATION;
  const float z_probe_deploy_end_location[] = Z_PROBE_DEPLOY_END_LOCATION;
  const float z_probe_retract_start_location[] = Z_PROBE_RETRACT_START_LOCATION;
  const float z_probe_retract_end_location[] = Z_PROBE_RETRACT_END_LOCATION;
  static float saved_position[3] = { 0.0 };
  static float saved_positions[7][3] = {
      { 0, 0, 0 },
      { 0, 0, 0 },
      { 0, 0, 0 },
      { 0, 0, 0 },
      { 0, 0, 0 },
      { 0, 0, 0 },
      { 0, 0, 0 },
      };
  static float adj_t1_Radius = 0;
  static float adj_t2_Radius = 0;
  static float adj_t3_Radius = 0;
  static float z_offset;
  static float bed_level_c, bed_level_x, bed_level_y, bed_level_z;
  static float bed_safe_z = 45; //used for initial bed probe safe distance (to avoid crashing into bed)
  static float bed_level_ox, bed_level_oy, bed_level_oz;
  static int loopcount;
  static bool home_all_axis = true;
#else
  static bool home_all_axis = true;
#endif

#if ENABLED(SCARA)
  float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
  static float delta[3] = { 0 };
  float axis_scaling[3] = { 1, 1, 1 };    // Build size scaling, default to 1
#endif

#if ENABLED(FILAMENT_SENSOR)
  //Variables for Filament Sensor input
  float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA;  //Set nominal filament width, can be changed with M404 
  bool filament_sensor = false;                                 //M405 turns on filament_sensor control, M406 turns it off 
  float filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA;    //Stores the measured filament diameter 
  signed char measurement_delay[MAX_MEASUREMENT_DELAY+1];       //ring buffer to delay measurement  store extruder factor after subtracting 100 
  int delay_index1 = 0;                                         //index into ring buffer
  int delay_index2 = -1;                                        //index into ring buffer - set to -1 on startup to indicate ring buffer needs to be initialized
  float delay_dist = 0;                                         //delay distance counter
  int meas_delay_cm = MEASUREMENT_DELAY_CM;                     //distance delay setting
#endif

#if HAS_FILRUNOUT
  static bool filrunoutEnqueued = false;
  bool printing = false;
#endif

#if ENABLED(SDSUPPORT)
  static bool fromsd[BUFSIZE];
  #if ENABLED(SD_SETTINGS)
    millis_t config_last_update = 0;
    bool config_readed = false;
  #endif
#endif

#if ENABLED(FILAMENTCHANGEENABLE)
  bool filament_changing = false;
#endif

#if ENABLED(IDLE_OOZING_PREVENT)
  unsigned long axis_last_activity = 0;
  bool IDLE_OOZING_enabled = true;
  bool IDLE_OOZING_retracted[EXTRUDERS] = ARRAY_BY_EXTRUDERS(false);
#endif

#if HAS_POWER_CONSUMPTION_SENSOR
  float power_consumption_meas = 0.0;
  unsigned long power_consumption_hour;
  unsigned long startpower = 0;
  unsigned long stoppower = 0;
#endif

#if ENABLED(LASERBEAM)
  int laser_ttl_modulation = 0;
#endif

#if ENABLED(NPR2)
  static float color_position[] = COLOR_STEP;
  static float color_step_moltiplicator = (DRIVER_MICROSTEP / MOTOR_ANGLE) * CARTER_MOLTIPLICATOR;
#endif // NPR2

#if ENABLED(EASY_LOAD)
  bool allow_lengthy_extrude_once; // for load/unload
#endif

#if HAS_SERVOS
  Servo servo[NUM_SERVOS];
#endif

#ifdef CHDK
  unsigned long chdkHigh = 0;
  boolean chdkActive = false;
#endif

//===========================================================================
//================================ Functions ================================
//===========================================================================

void process_next_command();

void plan_arc(float target[NUM_AXIS], float *offset, uint8_t clockwise);

bool setTargetedHotend(int code);

#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  float extrude_min_temp = EXTRUDE_MINTEMP;
#endif

#ifdef __AVR__ // HAL for Due
#if ENABLED(SDSUPPORT)
  #include "SdFatUtil.h"
  int freeMemory() { return SdFatUtil::FreeRam(); }
#else
  extern "C" {
    extern unsigned int __bss_end;
    extern unsigned int __heap_start;
    extern void *__brkval;

    int freeMemory() {
      int free_memory;

      if ((int)__brkval == 0)
        free_memory = ((int)&free_memory) - ((int)&__bss_end);
      else
        free_memory = ((int)&free_memory) - ((int)__brkval);

      return free_memory;
    }
  }
#endif // !SDSUPPORT
#endif

/**
 * Inject the next command from the command queue, when possible
 * Return false only if no command was pending
 */
static bool drain_queued_commands_P() {
  if (!queued_commands_P) return false;

  // Get the next 30 chars from the sequence of gcodes to run
  char cmd[30];
  strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
  cmd[sizeof(cmd) - 1] = '\0';

  // Look for the end of line, or the end of sequence
  size_t i = 0;
  char c;
  while((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
  cmd[i] = '\0';
  if (enqueuecommand(cmd)) {      // buffer was not full (else we will retry later)
    if (c)
      queued_commands_P += i + 1; // move to next command
    else
      queued_commands_P = NULL;   // will have no more commands in the sequence
  }
  return true;
}

/**
 * Record one or many commands to run from program memory.
 * Aborts the current queue, if any.
 * Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
 */
void enqueuecommands_P(const char* pgcode) {
  queued_commands_P = pgcode;
  drain_queued_commands_P(); // first command executed asap (when possible)
}

/**
 * Copy a command directly into the main command buffer, from RAM.
 *
 * This is done in a non-safe way and needs a rework someday.
 * Returns false if it doesn't add any command
 */
bool enqueuecommand(const char *cmd) {

  if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;

  // This is dangerous if a mixing of serial and this happens
  char *command = command_queue[cmd_queue_index_w];
  strcpy(command, cmd);
  ECHO_SMV(DB, MSG_ENQUEUEING, command);
  ECHO_EM("\"");
  cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
  commands_in_queue++;
  return true;
}

#if MB(ALLIGATOR)
  void setup_alligator_board() {
    // Init Expansion Port Voltage logic Selector
    SET_OUTPUT(EXP_VOLTAGE_LEVEL_PIN);
    WRITE(EXP_VOLTAGE_LEVEL_PIN, UI_VOLTAGE_LEVEL);
    ExternalDac::begin(); //initialize ExternalDac
    #if HAS_BUZZER
      buzz(10,10);
    #endif
  }
#endif

void setup_killpin() {
  #if HAS_KILL
    SET_INPUT(KILL_PIN);
    WRITE(KILL_PIN, HIGH);
  #endif
}

void setup_filrunoutpin() {
  #if HAS_FILRUNOUT
    pinMode(FILRUNOUT_PIN, INPUT);
    #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
      WRITE(FILRUNOUT_PIN, HIGH);
    #endif
  #endif
}

// Set home pin
void setup_homepin(void) {
  #if HAS_HOME
    SET_INPUT(HOME_PIN);
    WRITE(HOME_PIN, HIGH);
  #endif
}


void setup_photpin() {
  #if HAS_PHOTOGRAPH
    OUT_WRITE(PHOTOGRAPH_PIN, LOW);
  #endif
}

void setup_laserbeampin() {
  #if ENABLED(LASERBEAM)
    OUT_WRITE(LASER_PWR_PIN, LOW);
    OUT_WRITE(LASER_TTL_PIN, LOW);
  #endif
}

void setup_powerhold() {
  #if HAS_SUICIDE
    OUT_WRITE(SUICIDE_PIN, HIGH);
  #endif
  #if HAS_POWER_SWITCH
    #if ENABLED(PS_DEFAULT_OFF)
      OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
    #else
      OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
    #endif
  #endif
}

void suicide() {
  #if HAS_SUICIDE
    OUT_WRITE(SUICIDE_PIN, LOW);
  #endif
}

void servo_init() {
  #if NUM_SERVOS >= 1 && HAS_SERVO_0
    servo[0].attach(SERVO0_PIN);
    servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position.
  #endif
  #if NUM_SERVOS >= 2 && HAS_SERVO_1
    servo[1].attach(SERVO1_PIN);
    servo[1].detach();
  #endif
  #if NUM_SERVOS >= 3 && HAS_SERVO_2
    servo[2].attach(SERVO2_PIN);
    servo[2].detach();
  #endif
  #if NUM_SERVOS >= 4 && HAS_SERVO_3
    servo[3].attach(SERVO3_PIN);
    servo[3].detach();
  #endif

  // Set position of Servo Endstops that are defined
  #if HAS_SERVO_ENDSTOPS
    for (int i = 0; i < 3; i++)
      if (servo_endstop_id[i] >= 0)
        servo[servo_endstop_id[i]].move(servo_endstop_angle[i][1]);
  #endif

}

/**
 * Stepper Reset (RigidBoard, et.al.)
 */
#if HAS_STEPPER_RESET
  void disableStepperDrivers() {
    pinMode(STEPPER_RESET_PIN, OUTPUT);
    digitalWrite(STEPPER_RESET_PIN, LOW);  // drive it down to hold in reset motor driver chips
  }
  void enableStepperDrivers() { pinMode(STEPPER_RESET_PIN, INPUT); }  // set to input, which allows it to be pulled high by pullups
#endif

/**
 * Marlin entry-point: Set up before the program loop
 *  - Set up Alligator Board
 *  - Set up the kill pin, filament runout, power hold
 *  - Start the serial port
 *  - Print startup messages and diagnostics
 *  - Get EEPROM or default settings
 *  - Initialize managers for:
 *    • temperature
 *    • planner
 *    • watchdog
 *    • stepper
 *    • photo pin
 *    • laserbeam
 *    • servos
 *    • LCD controller
 *    • Digipot I2C
 *    • Z probe sled
 *    • status LEDs
 */
void setup() {
  #if MB(ALLIGATOR)
    setup_alligator_board();// Initialize Alligator Board
  #endif
  setup_killpin();
  setup_filrunoutpin();
  setup_powerhold();

  #if HAS_STEPPER_RESET
    disableStepperDrivers();
  #endif

  SERIAL_INIT(BAUDRATE);
  ECHO_EM(START);
  ECHO_S(DB);

  // Check startup - does nothing if bootloader sets MCUSR to 0
  byte mcu = MCUSR;
  if (mcu & 1) ECHO_EM(MSG_POWERUP);
  if (mcu & 2) ECHO_EM(MSG_EXTERNAL_RESET);
  if (mcu & 4) ECHO_EM(MSG_BROWNOUT_RESET);
  if (mcu & 8) ECHO_EM(MSG_WATCHDOG_RESET);
  if (mcu & 32) ECHO_EM(MSG_SOFTWARE_RESET);
  MCUSR = 0;

  ECHO_LM(DB, MSG_MARLIN " " BUILD_VERSION);

  #ifdef STRING_DISTRIBUTION_DATE
    #ifdef STRING_CONFIG_H_AUTHOR
      ECHO_LM(DB, MSG_CONFIGURATION_VER STRING_DISTRIBUTION_DATE MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
      ECHO_LM(DB, MSG_COMPILED __DATE__);
    #endif // STRING_CONFIG_H_AUTHOR
  #endif // STRING_DISTRIBUTION_DATE

  ECHO_SMV(DB, MSG_FREE_MEMORY, freeMemory());
  ECHO_EMV(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);

  #if ENABLED(SDSUPPORT)
    for (int8_t i = 0; i < BUFSIZE; i++) fromsd[i] = false;
  #endif

  // loads custom configuration from SDCARD if available else uses defaults
  ConfigSD_RetrieveSettings();

  // loads data from EEPROM if available else uses defaults (and resets step acceleration rate)
  Config_RetrieveSettings();

  lcd_init();
  #ifndef NEXTION
    delay(SPLASH_SCREEN_DURATION);  // wait to display the splash screen
  #endif

  tp_init();    // Initialize temperature loop
  plan_init();  // Initialize planner;
  watchdog_init();
  st_init();    // Initialize stepper, this enables interrupts!
  setup_photpin();
  setup_laserbeampin();   // Initialize Laserbeam pin
  servo_init();

  #if HAS_CONTROLLERFAN
    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
  #endif

  #if HAS_STEPPER_RESET
    enableStepperDrivers();
  #endif

  #ifdef DIGIPOT_I2C
    digipot_i2c_init();
  #endif

  #ifdef Z_PROBE_SLED
    pinMode(SLED_PIN, OUTPUT);
    digitalWrite(SLED_PIN, LOW); // turn it off
  #endif // Z_PROBE_SLED

  setup_homepin();

  #ifdef STAT_LED_RED
    pinMode(STAT_LED_RED, OUTPUT);
    digitalWrite(STAT_LED_RED, LOW); // turn it off
  #endif

  #ifdef STAT_LED_BLUE
    pinMode(STAT_LED_BLUE, OUTPUT);
    digitalWrite(STAT_LED_BLUE, LOW); // turn it off
  #endif

  #ifdef FIRMWARE_TEST
    FirmwareTest();
  #endif // FIRMWARE_TEST
}

/**
 * The main Marlin program loop
 *
 *  - Save or log commands to SD
 *  - Process available commands (if not saving)
 *  - Call heater manager
 *  - Call inactivity manager
 *  - Call endstop manager
 *  - Call LCD update
 */
void loop() {
  if (commands_in_queue < BUFSIZE - 1) get_command();

  #if ENABLED(SDSUPPORT)
    card.checkautostart(false);
  #endif

  if (commands_in_queue) {

    #if ENABLED(SDSUPPORT)

      if (card.saving) {
        char *command = command_queue[cmd_queue_index_r];
        if (strstr_P(command, PSTR("M29"))) {
          // M29 closes the file
          card.closeFile();
          ECHO_EM(MSG_FILE_SAVED);
        }
        else {
          // Write the string from the read buffer to SD
          card.write_command(command);
          if (card.logging)
            process_next_command(); // The card is saving because it's logging
          else
            ECHO_L(OK);
        }
      }
      else
        process_next_command();

    #else

      process_next_command();

    #endif // SDSUPPORT

    commands_in_queue--;
    cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
  }
  checkHitEndstops();
  idle();
}

void gcode_line_error(const char *err, bool doFlush = true) {
  ECHO_S(ER);
  PS_PGM(err);
  ECHO_EV(gcode_LastN);
  //Serial.println(gcode_N);
  if (doFlush) FlushSerialRequestResend();
  serial_count = 0;
}

/**
 * Add to the circular command queue the next command from:
 *  - The command-injection queue (queued_commands_P)
 *  - The active serial input (usually USB)
 *  - The SD card file being actively printed
 */
void get_command() {

  if (drain_queued_commands_P()) return; // priority is given to non-serial commands

  #ifdef NO_TIMEOUTS
    static millis_t last_command_time = 0;
    millis_t ms = millis();

    if (!MYSERIAL.available() && commands_in_queue == 0 && ms - last_command_time > NO_TIMEOUTS) {
      ECHO_L(WT);
      last_command_time = ms;
    }
  #endif

  //
  // Loop while serial characters are incoming and the queue is not full
  //
  while (MYSERIAL.available() > 0 && commands_in_queue < BUFSIZE) {

    #ifdef NO_TIMEOUTS
      last_command_time = ms;
    #endif

    serial_char = MYSERIAL.read();

    //
    // If the character ends the line, or the line is full...
    //
    if (serial_char == '\n' || serial_char == '\r' || serial_count >= MAX_CMD_SIZE - 1) {

      // end of line == end of comment
      comment_mode = false;

      if (!serial_count) return; // empty lines just exit

      char *command = command_queue[cmd_queue_index_w];
      command[serial_count] = 0; // terminate string

      // this item in the queue is not from sd
      #if ENABLED(SDSUPPORT)
        fromsd[cmd_queue_index_w] = false;
      #endif

      char *npos = strchr(command, 'N');
      if (npos == NULL) npos = strchr(command, 'n');
      char *apos = strchr(command, '*');
      if (npos) {

        boolean M110 = strstr_P(command, PSTR("M110")) != NULL || strstr_P(command, PSTR("m110")) != NULL;

        if (M110) {
          char *n2pos = strchr(command + 4, 'N');
          if (n2pos == NULL) n2pos = strchr(command + 4, 'n');
          if (n2pos) npos = n2pos;
        }

        gcode_N = strtol(npos + 1, NULL, 10);

        if (gcode_N != gcode_LastN + 1 && !M110) {
          gcode_line_error(PSTR(MSG_ERR_LINE_NO));
          return;
        }

        gcode_LastN = gcode_N;

        if (apos) {
          byte checksum = 0, count = 0;
          while (command[count] != '*') checksum ^= command[count++];

          if (strtol(apos + 1, NULL, 10) != checksum) {
            gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
            return;
          }
          // if no errors, continue parsing
        }
        else if (npos == command) {
          gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
          return;
        }
      }
      else if (apos) { // No '*' without 'N'
        gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
        return;
      }

      // Movement commands alert when stopped
      if (IsStopped()) {
        char *gpos = strchr(command, 'G');
        if (gpos == NULL) gpos = strchr(command, 'g');
        if (gpos) {
          int codenum = strtol(gpos + 1, NULL, 10);
          switch (codenum) {
            case 0:
            case 1:
            case 2:
            case 3:
              ECHO_LM(ER, MSG_ERR_STOPPED);
              LCD_MESSAGEPGM(MSG_STOPPED);
              break;
          }
        }
      }

      // If command was e-stop process now
      if (strcmp(command, "M112") == 0 || strcmp(command, "m112") == 0) kill(PSTR(MSG_KILLED));

      cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
      commands_in_queue += 1;

      serial_count = 0; //clear buffer
    }
    else if (serial_char == '\\') {  // Handle escapes
      if (MYSERIAL.available() > 0 && commands_in_queue < BUFSIZE) {
        // if we have one more character, copy it over
        serial_char = MYSERIAL.read();
        command_queue[cmd_queue_index_w][serial_count++] = serial_char;
      }
      // otherwise do nothing
    }
    else { // its not a newline, carriage return or escape char
      if (serial_char == ';') comment_mode = true;
      if (!comment_mode) command_queue[cmd_queue_index_w][serial_count++] = serial_char;
    }
  }

  #if ENABLED(SDSUPPORT)

    if (!card.sdprinting || serial_count) return;

    // '#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
    // if it occurs, stop_buffering is triggered and the buffer is ran dry.
    // this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing

    static bool stop_buffering = false;
    if (commands_in_queue == 0) stop_buffering = false;

    while (!card.eof() && commands_in_queue < BUFSIZE && !stop_buffering) {
      int16_t n = card.get();
      serial_char = (char)n;
      if (serial_char == '\n' || serial_char == '\r' ||
          ((serial_char == '#' || serial_char == ':') && !comment_mode) ||
          serial_count >= (MAX_CMD_SIZE - 1) || n == -1
      ) {
        if (card.eof()) {
          ECHO_EM(MSG_FILE_PRINTED);
          print_job_stop_ms = millis();
          char time[30];
          millis_t t = (print_job_stop_ms - print_job_start_ms) / 1000;
          int hours = t / 60 / 60, minutes = (t / 60) % 60;
          sprintf_P(time, PSTR("%i " MSG_END_HOUR " %i " MSG_END_MINUTE), hours, minutes);
          ECHO_LV(DB, time);
          lcd_setstatus(time, true);
          card.printingHasFinished();
          card.checkautostart(true);
        }
        if (serial_char == '#') stop_buffering = true;

        if (!serial_count) {
          comment_mode = false; //for new command
          return; //if empty line
        }
        command_queue[cmd_queue_index_w][serial_count] = 0; //terminate string
        // if (!comment_mode) {
        fromsd[cmd_queue_index_w] = true;
        commands_in_queue += 1;
        cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
        // }
        comment_mode = false; //for new command
        serial_count = 0; //clear buffer
      }
      else {
        if (serial_char == ';') comment_mode = true;
        if (!comment_mode) command_queue[cmd_queue_index_w][serial_count++] = serial_char;
      }
    }

  #endif // SDSUPPORT
}

bool code_has_value() {
  int i = 1;
  char c = seen_pointer[i];
  if (c == '-' || c == '+') c = seen_pointer[++i];
  if (c == '.') c = seen_pointer[++i];
  return (c >= '0' && c <= '9');
}

float code_value() {
  float ret;
  char *e = strchr(seen_pointer, 'E'); if (e == NULL) e = strchr(seen_pointer, 'e');
  if (e) {
    *e = 0;
    ret = strtod(seen_pointer + 1, NULL);
    *e = 'E';
  }
  else
    ret = strtod(seen_pointer + 1, NULL);
  return ret;
}

long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }

int16_t code_value_short() { return (int16_t)strtol(seen_pointer + 1, NULL, 10); }

bool code_seen(char code) {
  seen_pointer = strchr(current_command_args, code); // +3 since "G0 " is the shortest prefix
  if (seen_pointer == NULL) seen_pointer = strchr(current_command_args, code + ('a'-'A'));
  return (seen_pointer != NULL);  //Return True if a character was found
}

#define DEFINE_PGM_READ_ANY(type, reader)       \
    static inline type pgm_read_any(const type *p)  \
    { return pgm_read_##reader##_near(p); }

DEFINE_PGM_READ_ANY(float,       float);
DEFINE_PGM_READ_ANY(signed char, byte);

#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[3] =        \
    { X_##CONFIG, Y_##CONFIG, Z_##CONFIG };     \
static inline type array(int axis)          \
    { return pgm_read_any(&array##_P[axis]); }

#if defined(CARTESIAN) || defined(COREXY) || defined(COREXZ) || defined(SCARA)
  XYZ_CONSTS_FROM_CONFIG(float, base_max_pos,  MAX_POS);
  XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
  XYZ_CONSTS_FROM_CONFIG(float, max_length,    MAX_LENGTH);
#endif
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos,    MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm,    HOME_BUMP_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir,  HOME_DIR);

#ifdef DUAL_X_CARRIAGE

  #define DXC_FULL_CONTROL_MODE 0
  #define DXC_AUTO_PARK_MODE    1
  #define DXC_DUPLICATION_MODE  2

  static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;

  static float x_home_pos(int extruder) {
    if (extruder == 0)
      return base_home_pos(X_AXIS) + home_offset[X_AXIS];
    else
      // In dual carriage mode the extruder offset provides an override of the
      // second X-carriage offset when homed - otherwise X2_HOME_POS is used.
      // This allow soft recalibration of the second extruder offset position without firmware reflash
      // (through the M218 command).
      return (hotend_offset[X_AXIS][1] > 0) ? hotend_offset[X_AXIS][1] : X2_HOME_POS;
  }

  static int x_home_dir(int extruder) {
    return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
  }

  static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1
  static bool active_extruder_parked = false; // used in mode 1 & 2
  static float raised_parked_position[NUM_AXIS]; // used in mode 1
  static millis_t delayed_move_time = 0; // used in mode 1
  static float duplicate_hotend_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
  static float duplicate_extruder_temp_offset = 0; // used in mode 2
  bool extruder_duplication_enabled = false; // used in mode 2

#endif //DUAL_X_CARRIAGE

static void axis_is_at_home(AxisEnum axis) {

  #ifdef DUAL_X_CARRIAGE
    if (axis == X_AXIS) {
      if (active_extruder != 0) {
        current_position[X_AXIS] = x_home_pos(active_extruder);
                 min_pos[X_AXIS] = X2_MIN_POS;
                 max_pos[X_AXIS] = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
        return;
      }
      else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
        float xoff = home_offset[X_AXIS];
        current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
                 min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
                 max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(hotend_offset[X_AXIS][1], X2_MAX_POS) - duplicate_hotend_x_offset);
        return;
      }
    }
  #endif

  #ifdef SCARA

    if (axis == X_AXIS || axis == Y_AXIS) {

      float homeposition[3];
      for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);

      // ECHO_MV("homeposition[x]= ", homeposition[0]);
      // ECHO_EMV(" homeposition[y]= ", homeposition[1]);
      // Works out real Home position angles using inverse kinematics, 
      // and calculates homing offset using forward kinematics
      calculate_delta(homeposition);

      // ECHO_MV("base Theta= ", delta[X_AXIS]);
      // ECHO_EMV(" base Psi+Theta=", delta[Y_AXIS]);

      for (int i = 0; i < 2; i++) delta[i] -= home_offset[i];

      // ECHO_MV("addhome X=", home_offset[X_AXIS]);
      // ECHO_MV(" addhome Y=", home_offset[Y_AXIS]);
      // ECHO_MV(" addhome Theta=", delta[X_AXIS]);
      // ECHO_EMV(" addhome Psi+Theta=", delta[Y_AXIS]);

      calculate_SCARA_forward_Transform(delta);

      // ECHO_MV("Delta X=", delta[X_AXIS]);
      // ECHO_EMV(" Delta Y=", delta[Y_AXIS]);
      
      current_position[axis] = delta[axis];

      // SCARA home positions are based on configuration since the actual limits are determined by the 
      // inverse kinematic transform.
      min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
      max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
    }
    else {
      current_position[axis] = base_home_pos(axis) + home_offset[axis];
               min_pos[axis] = base_min_pos(axis)  + home_offset[axis];
               max_pos[axis] = base_max_pos(axis)  + home_offset[axis];
    }
  #elif defined(DELTA)
    current_position[axis] = base_home_pos[axis] + home_offset[axis];
             min_pos[axis] = base_min_pos(axis)  + home_offset[axis];
             max_pos[axis] = base_max_pos[axis]  + home_offset[axis];
  #else
    current_position[axis] = base_home_pos(axis) + home_offset[axis];
             min_pos[axis] = base_min_pos(axis)  + home_offset[axis];
             max_pos[axis] = base_max_pos(axis)  + home_offset[axis];
  #endif
  
  #if defined(ENABLE_AUTO_BED_LEVELING) && Z_HOME_DIR < 0
    if (axis == Z_AXIS) current_position[Z_AXIS] -= zprobe_zoffset;
  #endif
}

/**
 * Some planner shorthand inline functions
 */
inline void set_homing_bump_feedrate(AxisEnum axis) {
  const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
  #ifdef DELTA
    if (homing_bump_divisor[X_AXIS] >= 1)
      feedrate = homing_feedrate[axis] / homing_bump_divisor[X_AXIS];
  #else // No DELTA
    if (homing_bump_divisor[axis] >= 1)
      feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
  #endif
  else {
    feedrate = homing_feedrate[axis] / 10;
    ECHO_LM(ER, MSG_ERR_HOMING_DIV);
  }
}
inline void line_to_current_position() {
  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder, active_driver);
}
inline void line_to_z(float zPosition) {
  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder, active_driver);
}
inline void line_to_destination(float mm_m) {
  plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m/60, active_extruder, active_driver);
}
inline void line_to_destination() {
  line_to_destination(feedrate);
}
inline void sync_plan_position() {
  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#if defined(DELTA) || defined(SCARA)
  inline void sync_plan_position_delta() {
    calculate_delta(current_position);
    plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  }
#endif
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }

static void setup_for_endstop_move() {
  saved_feedrate = feedrate;
  saved_feedrate_multiplier = feedrate_multiplier;
  feedrate_multiplier = 100;
  refresh_cmd_timeout();
  enable_endstops(true);
}

static void clean_up_after_endstop_move() {
  #ifdef ENDSTOPS_ONLY_FOR_HOMING
    enable_endstops(false);
  #endif
  feedrate = saved_feedrate;
  feedrate_multiplier = saved_feedrate_multiplier;
  endstops_hit_on_purpose(); // clear endstop hit flags
  refresh_cmd_timeout();
}

#if defined(CARTESIAN) || defined(COREXY) || defined(COREXZ) || defined(SCARA)

  /**
   *  Plan a move to (X, Y, Z) and set the current_position
   *  The final current_position may not be the one that was requested
   */
  static void do_blocking_move_to(float x, float y, float z) {
    float oldFeedRate = feedrate;
    feedrate = homing_feedrate[Z_AXIS];

    current_position[Z_AXIS] = z;
    line_to_current_position();
    st_synchronize();

    feedrate = xy_travel_speed;

    current_position[X_AXIS] = x;
    current_position[Y_AXIS] = y;
    line_to_current_position();
    st_synchronize();

    feedrate = oldFeedRate;
  }

  inline void do_blocking_move_to_xy(float x, float y) { do_blocking_move_to(x, y, current_position[Z_AXIS]); }
  inline void do_blocking_move_to_x(float x) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); }
  inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); }

  #ifdef ENABLE_AUTO_BED_LEVELING

    #ifdef AUTO_BED_LEVELING_GRID
      static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
        vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
        planeNormal.debug("planeNormal");
        plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
        //bedLevel.debug("bedLevel");

        //plan_bed_level_matrix.debug("bed level before");
        //vector_3 uncorrected_position = plan_get_position_mm();
        //uncorrected_position.debug("position before");

        vector_3 corrected_position = plan_get_position();
        //corrected_position.debug("position after");
        current_position[X_AXIS] = corrected_position.x;
        current_position[Y_AXIS] = corrected_position.y;
        current_position[Z_AXIS] = corrected_position.z;

        sync_plan_position();
      }
    #else // not AUTO_BED_LEVELING_GRID
      static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {

        plan_bed_level_matrix.set_to_identity();

        vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1);
        vector_3 pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2);
        vector_3 pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
        vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();

        if (planeNormal.z < 0) {
          planeNormal.x = -planeNormal.x;
          planeNormal.y = -planeNormal.y;
          planeNormal.z = -planeNormal.z;
        }

        plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);

        vector_3 corrected_position = plan_get_position();
        current_position[X_AXIS] = corrected_position.x;
        current_position[Y_AXIS] = corrected_position.y;
        current_position[Z_AXIS] = corrected_position.z;

        sync_plan_position();
      }

    #endif // AUTO_BED_LEVELING_GRID

    static void run_z_probe() {

      plan_bed_level_matrix.set_to_identity();
      feedrate = homing_feedrate[Z_AXIS];

      // Move down until the probe (or endstop?) is triggered
      float zPosition = -(Z_MAX_LENGTH + 10);
      line_to_z(zPosition);
      st_synchronize();

      // Tell the planner where we ended up - Get this from the stepper handler
      zPosition = st_get_position_mm(Z_AXIS);
      plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);

      // move up the retract distance
      zPosition += home_bump_mm(Z_AXIS);
      line_to_z(zPosition);
      st_synchronize();
      endstops_hit_on_purpose(); // clear endstop hit flags

      // move back down slowly to find bed
      set_homing_bump_feedrate(Z_AXIS);

      zPosition -= home_bump_mm(Z_AXIS) * 2;
      line_to_z(zPosition);
      st_synchronize();
      endstops_hit_on_purpose(); // clear endstop hit flags

      // Get the current stepper position after bumping an endstop
      current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
      sync_plan_position();
    }

    static void deploy_z_probe() {
      #if HAS_SERVO_ENDSTOPS
        // Engage Z Servo endstop if enabled
        if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
      #endif
    }

    static void stow_z_probe(bool doRaise = true) {
      #if HAS_SERVO_ENDSTOPS
        // Retract Z Servo endstop if enabled
        if (servo_endstop_id[Z_AXIS] >= 0) {

          #if Z_RAISE_AFTER_PROBING > 0
            if (doRaise) {
              do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // this also updates current_position
              st_synchronize();
            }
          #endif

          // Change the Z servo angle
          servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][1]);
        }
      #endif
    }

    enum ProbeAction {
      ProbeStay             = 0,
      ProbeDeploy           = BIT(0),
      ProbeStow             = BIT(1),
      ProbeDeployAndStow    = (ProbeDeploy | ProbeStow)
    };

    // Probe bed height at position (x,y), returns the measured z value
    static float probe_pt(float x, float y, float z_before, ProbeAction probe_action = ProbeDeployAndStow, int verbose_level = 1) {
      // move to right place
      do_blocking_move_to_z(z_before); // this also updates current_position
      do_blocking_move_to_xy(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER); // this also updates current_position

      #ifndef Z_PROBE_SLED
        if (probe_action & ProbeDeploy) deploy_z_probe();
      #endif // Z_PROBE_SLED

      run_z_probe();
      float measured_z = current_position[Z_AXIS];

      #ifndef Z_PROBE_SLED
        if (probe_action & ProbeStow) stow_z_probe();
      #endif

      if (verbose_level > 2) {
        ECHO_SM(DB, MSG_BED_LEVELLING_BED);
        ECHO_MV(MSG_BED_LEVELLING_X, x, 3);
        ECHO_MV(MSG_BED_LEVELLING_Y, y, 3);
        ECHO_EMV(MSG_BED_LEVELLING_Z, measured_z, 3);
      }
      return measured_z;
    }
  #endif //ENABLE_AUTO_BED_LEVELING

  static void homeaxis(AxisEnum axis) {
  #define HOMEAXIS_DO(LETTER) \
    ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))

    if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {

      int axis_home_dir =
      #ifdef DUAL_X_CARRIAGE
        (axis == X_AXIS) ? x_home_dir(active_extruder) :
      #endif
      home_dir(axis);

      // Set the axis position as setup for the move
      current_position[axis] = 0;
      sync_plan_position();

      #ifdef Z_PROBE_SLED
        // Get Probe
        if (axis == Z_AXIS) {
          if (axis_home_dir < 0) dock_sled(false);
        }
      #endif

      #if SERVO_LEVELING && DISABLED(Z_PROBE_SLED)
        // Deploy a probe if there is one, and homing towards the bed
        if (axis == Z_AXIS) {
          if (axis_home_dir < 0) deploy_z_probe();
        }
      #endif

      #if HAS_SERVO_ENDSTOPS
        // Engage Servo endstop if enabled
        if (axis != Z_AXIS && servo_endstop_id[axis] >= 0)
          servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][0]);
      #endif

      // Set a flag for Z motor locking
      #ifdef Z_DUAL_ENDSTOPS
        if (axis == Z_AXIS) In_Homing_Process(true);
      #endif

      // Move towards the endstop until an endstop is triggered
      destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
      feedrate = homing_feedrate[axis];
      line_to_destination();
      st_synchronize();

      // Set the axis position as setup for the move
      current_position[axis] = 0;
      sync_plan_position();

      enable_endstops(false); // Disable endstops while moving away

      // Move away from the endstop by the axis HOME_BUMP_MM
      destination[axis] = -home_bump_mm(axis) * axis_home_dir;
      line_to_destination();
      st_synchronize();

      enable_endstops(true); // Enable endstops for next homing move

      // Slow down the feedrate for the next move
      set_homing_bump_feedrate(axis);

      // Move slowly towards the endstop until triggered
      destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir;
      line_to_destination();
      st_synchronize();

      #ifdef Z_DUAL_ENDSTOPS
        if (axis == Z_AXIS) {
          float adj = fabs(z_endstop_adj);
          bool lockZ1;
          if (axis_home_dir > 0) {
            adj = -adj;
            lockZ1 = (z_endstop_adj > 0);
          }
          else
            lockZ1 = (z_endstop_adj < 0);

          if (lockZ1) Lock_z_motor(true); else Lock_z2_motor(true);
          sync_plan_position();

          // Move to the adjusted endstop height
          feedrate = homing_feedrate[axis];
          destination[Z_AXIS] = adj;
          line_to_destination();
          st_synchronize();

          if (lockZ1) Lock_z_motor(false); else Lock_z2_motor(false);
          In_Homing_Process(false);
        } // Z_AXIS
      #endif

      // Set the axis position to its home position (plus home offsets)
      axis_is_at_home(axis);
      sync_plan_position();

      destination[axis] = current_position[axis];
      feedrate = 0.0;
      endstops_hit_on_purpose(); // clear endstop hit flags
      axis_known_position[axis] = true;

      #if ENABLED(Z_PROBE_SLED)
        // bring probe back
          if (axis == Z_AXIS) {
            if (axis_home_dir < 0) dock_sled(true);
          }
      #endif

      #if SERVO_LEVELING && DISABLED(Z_PROBE_SLED)
        // Deploy a probe if there is one, and homing towards the bed
        if (axis == Z_AXIS) {
          if (axis_home_dir < 0) stow_z_probe();
        }
        else
      #endif
      {
        #if HAS_SERVO_ENDSTOPS
          // Retract Servo endstop if enabled
          if (servo_endstop_id[axis] >= 0)
          servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
        #endif
      }
    }
  }
  #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
#endif // CARTESIAN || COREXY || COREXZ || SCARA

#ifdef DELTA

  static void homeaxis(AxisEnum axis) {
    #define HOMEAXIS_DO(LETTER) \
      ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))

    if (axis == X_AXIS ? HOMEAXIS_DO(X) : axis == Y_AXIS ? HOMEAXIS_DO(Y) : axis == Z_AXIS ? HOMEAXIS_DO(Z) : 0) {

      int axis_home_dir = home_dir(axis);
      current_position[axis] = 0;
      sync_plan_position();

      // Move towards the endstop until an endstop is triggered
      destination[axis] = 1.5 * max_length[axis] * axis_home_dir;
      feedrate = homing_feedrate[axis];
      line_to_destination();
      st_synchronize();

      // Set the axis position as setup for the move
      current_position[axis] = 0;
      sync_plan_position();

      enable_endstops(false); // Disable endstops while moving away

      // Move away from the endstop by the axis HOME_BUMP_MM
      destination[axis] = -home_bump_mm(axis) * axis_home_dir;
      line_to_destination();
      st_synchronize();

      enable_endstops(true); // Enable endstops for next homing move

      // Slow down the feedrate for the next move
      set_homing_bump_feedrate(axis);

      // Move slowly towards the endstop until triggered
      destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir;
      line_to_destination();
      st_synchronize();

      // retrace by the amount specified in endstop_adj
      if (endstop_adj[axis] * axis_home_dir < 0) {
        enable_endstops(false); // Disable endstops while moving away
        sync_plan_position();
        destination[axis] = endstop_adj[axis];
        line_to_destination();
        st_synchronize();
        enable_endstops(true); // Enable endstops for next homing move
      }

      // Set the axis position to its home position (plus home offsets)
      axis_is_at_home(axis);
      sync_plan_position();

      destination[axis] = current_position[axis];
      feedrate = 0.0;
      endstops_hit_on_purpose(); // clear endstop hit flags
      axis_known_position[axis] = true;
    }
  }
  #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)

  void set_default_z_probe_offset() {
    float default_z_probe_offset[] = Z_PROBE_OFFSET;
    memcpy(z_probe_offset, default_z_probe_offset, sizeof(z_probe_offset));
  }

  void set_delta_constants() {
    max_length[Z_AXIS]    = max_pos[Z_AXIS] - Z_MIN_POS;
    base_max_pos[Z_AXIS]  = max_pos[Z_AXIS];
    base_home_pos[Z_AXIS] = max_pos[Z_AXIS];

    DELTA_DIAGONAL_ROD1_2 = pow(delta_diagonal_rod + diagrod_adj[0], 2);
    DELTA_DIAGONAL_ROD2_2 = pow(delta_diagonal_rod + diagrod_adj[1], 2);
    DELTA_DIAGONAL_ROD3_2 = pow(delta_diagonal_rod + diagrod_adj[2], 2);

    // Effective X/Y positions of the three vertical towers.
    delta_tower1_x = (delta_radius + tower_adj[3]) * cos((210 + tower_adj[0]) * M_PI/180); // front left tower
    delta_tower1_y = (delta_radius + tower_adj[3]) * sin((210 + tower_adj[0]) * M_PI/180); 
    delta_tower2_x = (delta_radius + tower_adj[4]) * cos((330 + tower_adj[1]) * M_PI/180); // front right tower
    delta_tower2_y = (delta_radius + tower_adj[4]) * sin((330 + tower_adj[1]) * M_PI/180); 
    delta_tower3_x = (delta_radius + tower_adj[5]) * cos((90 + tower_adj[2]) * M_PI/180);  // back middle tower
    delta_tower3_y = (delta_radius + tower_adj[5]) * sin((90 + tower_adj[2]) * M_PI/180); 
  }

  static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
    if (bed_level[x][y] != 0.0) {
      return;  // Don't overwrite good values.
    }
    float a = 2 * bed_level[x + xdir][y] - bed_level[x + xdir * 2][y];  // Left to right.
    float b = 2 * bed_level[x][y + ydir] - bed_level[x][y + ydir * 2];  // Front to back.
    float c = 2 * bed_level[x + xdir][y + ydir] - bed_level[x + xdir * 2][y + ydir * 2];  // Diagonal.
    float median = c;  // Median is robust (ignores outliers).
    if (a < b) {
      if (b < c) median = b;
      if (c < a) median = a;
    } else {  // b <= a
      if (c < b) median = b;
      if (a < c) median = a;
    }
    bed_level[x][y] = median;
  }

  // Fill in the unprobed points (corners of circular print surface)
  // using linear extrapolation, away from the center.
  static void extrapolate_unprobed_bed_level() {
    int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
    for (int y = 0; y <= half; y++) {
      for (int x = 0; x <= half; x++) {
        if (x + y < 3) continue;
        extrapolate_one_point(half - x, half - y, x > 1 ? +1:0, y > 1 ? +1:0);
        extrapolate_one_point(half + x, half - y, x > 1 ? -1:0, y > 1 ? +1:0);
        extrapolate_one_point(half - x, half + y, x > 1 ? +1:0, y > 1 ? -1:0);
        extrapolate_one_point(half + x, half + y, x > 1 ? -1:0, y > 1 ? -1:0);
      }
    }
  }

  // Print calibration results for plotting or manual frame adjustment.
  static void print_bed_level() {
    for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
      ECHO_S(DB);
      for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
        ECHO_VM(bed_level[x][y], " ", 3);
      }
      ECHO_E;
    }
  }

  // Reset calibration results to zero.
  void reset_bed_level() {
    for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
      for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
        bed_level[x][y] = 0.0;
      }
    }
  }

  void deploy_z_probe() {

    #if HAS_SERVO_ENDSTOPS
      // Engage Z Servo endstop if enabled
      if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
    #endif

    feedrate = homing_feedrate[X_AXIS];
    destination[X_AXIS] = z_probe_deploy_start_location[X_AXIS];
    destination[Y_AXIS] = z_probe_deploy_start_location[Y_AXIS];
    destination[Z_AXIS] = z_probe_deploy_start_location[Z_AXIS];
    prepare_move_raw();

    feedrate = homing_feedrate[X_AXIS]/10;
    destination[X_AXIS] = z_probe_deploy_end_location[X_AXIS];
    destination[Y_AXIS] = z_probe_deploy_end_location[Y_AXIS];
    destination[Z_AXIS] = z_probe_deploy_end_location[Z_AXIS];
    prepare_move_raw();

    feedrate = homing_feedrate[X_AXIS];
    destination[X_AXIS] = z_probe_deploy_start_location[X_AXIS];
    destination[Y_AXIS] = z_probe_deploy_start_location[Y_AXIS];
    destination[Z_AXIS] = z_probe_deploy_start_location[Z_AXIS];
    prepare_move_raw();
    st_synchronize();
  }

  void retract_z_probe() {
    feedrate = homing_feedrate[X_AXIS];
    //destination[Z_AXIS] = 50;
    //prepare_move_raw();

    destination[X_AXIS] = z_probe_retract_start_location[X_AXIS];
    destination[Y_AXIS] = z_probe_retract_start_location[Y_AXIS];
    destination[Z_AXIS] = z_probe_retract_start_location[Z_AXIS];
    prepare_move_raw();

    // Move the nozzle below the print surface to push the probe up.
    feedrate = homing_feedrate[Z_AXIS]/10;
    destination[X_AXIS] = z_probe_retract_end_location[X_AXIS];
    destination[Y_AXIS] = z_probe_retract_end_location[Y_AXIS];
    destination[Z_AXIS] = z_probe_retract_end_location[Z_AXIS];
    prepare_move_raw();

    feedrate = homing_feedrate[Z_AXIS];
    destination[X_AXIS] = z_probe_retract_start_location[X_AXIS];
    destination[Y_AXIS] = z_probe_retract_start_location[Y_AXIS];
    destination[Z_AXIS] = z_probe_retract_start_location[Z_AXIS];
    prepare_move_raw();
    st_synchronize();

     #if HAS_SERVO_ENDSTOPS
      // Retract Z Servo endstop if enabled
      if (servo_endstop_id[Z_AXIS] >= 0)
        // Change the Z servo angle
        servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][1]);
    #endif
  }

  void apply_endstop_adjustment(float x_endstop, float y_endstop, float z_endstop) {

    memcpy(saved_endstop_adj, endstop_adj, sizeof(saved_endstop_adj));
    endstop_adj[X_AXIS] += x_endstop;
    endstop_adj[Y_AXIS] += y_endstop;
    endstop_adj[Z_AXIS] += z_endstop;

    calculate_delta(current_position);
    plan_set_position(delta[X_AXIS] - (endstop_adj[X_AXIS] - saved_endstop_adj[X_AXIS]) , delta[Y_AXIS] - (endstop_adj[Y_AXIS] - saved_endstop_adj[Y_AXIS]), delta[Z_AXIS] - (endstop_adj[Z_AXIS] - saved_endstop_adj[Z_AXIS]), current_position[E_AXIS]);  
    st_synchronize();
  }

  void adj_endstops() {
    boolean x_done = false;
    boolean y_done = false;
    boolean z_done = false;
    float prv_bed_level_x, prv_bed_level_y, prv_bed_level_z;

    do {
      bed_level_z = probe_bed(0.0, bed_radius);
      bed_level_x = probe_bed(-SIN_60 * bed_radius, -COS_60 * bed_radius);
      bed_level_y = probe_bed(SIN_60 * bed_radius, -COS_60 * bed_radius);

      apply_endstop_adjustment(bed_level_x, bed_level_y, bed_level_z);

      ECHO_SMV(DB, "x:", bed_level_x, 4);
      ECHO_MV(" (adj:", endstop_adj[0], 4);
      ECHO_MV(") y:", bed_level_y, 4);
      ECHO_MV(" (adj:", endstop_adj[1], 4);
      ECHO_MV(") z:", bed_level_z, 4);
      ECHO_MV(" (adj:", endstop_adj[2], 4);
      ECHO_EM(")");

      if ((bed_level_x >= -ac_prec) and (bed_level_x <= ac_prec)) {
        x_done = true;
        ECHO_SM(DB, "X=OK ");
      }
      else {
        x_done = false;
        ECHO_SM(DB, "X=ERROR ");
      }

      if ((bed_level_y >= -ac_prec) and (bed_level_y <= ac_prec)) {
        y_done = true;
        ECHO_M("Y=OK ");
      }
      else {
        y_done = false;
        ECHO_M("Y=ERROR ");
      }

      if ((bed_level_z >= -ac_prec) and (bed_level_z <= ac_prec)) {
        z_done = true;
        ECHO_EM("Z=OK");
      }
      else {
        z_done = false;
        ECHO_EM("Z=ERROR");
      }
    } while (((x_done == false) or (y_done == false) or (z_done == false)));

    float high_endstop  = 0;
    float low_endstop   = 0;
    for(int x = 0; x < 3; x++) {
      if (endstop_adj[x] > high_endstop) high_endstop = endstop_adj[x];
      if (endstop_adj[x] < low_endstop) low_endstop = endstop_adj[x];
    }

    if (high_endstop > 0) {
      ECHO_LMV(DB, "Reducing Build height by ", high_endstop);
      for(int8_t i = 0; i < 3; i++) {
        endstop_adj[i] -= high_endstop;
      }
      max_pos[Z_AXIS] -= high_endstop;
      set_delta_constants();
    }

    bed_safe_z = Z_RAISE_BETWEEN_PROBINGS - z_probe_offset[Z_AXIS];
  }

  int fix_tower_errors() {
    boolean t1_err, t2_err, t3_err;
    boolean xy_equal, xz_equal, yz_equal;
    float saved_tower_adj[6];
    int err_tower;
    float low_diff, high_diff;
    float x_diff, y_diff, z_diff;
    float xy_diff, yz_diff, xz_diff;
    float low_opp, high_opp;

    for (int8_t i = 0; i < 6; i++) saved_tower_adj[i] = tower_adj[i];

    err_tower = 0;

    x_diff = abs(bed_level_x - bed_level_ox);
    high_diff = x_diff;
    y_diff = abs(bed_level_y - bed_level_oy);
    if (y_diff > high_diff) high_diff = y_diff;
    z_diff = abs(bed_level_z - bed_level_oz);
    if (z_diff > high_diff) high_diff = z_diff;

    if (x_diff <= ac_prec) t1_err = false; else t1_err = true;
    if (y_diff <= ac_prec) t2_err = false; else t2_err = true;
    if (z_diff <= ac_prec) t3_err = false; else t3_err = true;

    ECHO_LMV(DB, "x_diff = ", x_diff, 5);
    ECHO_LMV(DB, "y_diff = ", y_diff, 5);
    ECHO_LMV(DB, "z_diff = ", z_diff, 5);
    ECHO_LMV(DB, "high_diff = ", high_diff, 5);

    //Are all errors equal? (within defined precision)
    xy_equal = false;
    xz_equal = false;
    yz_equal = false;
    if (abs(x_diff - y_diff) <= ac_prec) xy_equal = true;
    if (abs(x_diff - z_diff) <= ac_prec) xz_equal = true;
    if (abs(y_diff - z_diff) <= ac_prec) yz_equal = true;
    ECHO_SM(DB, "xy_equal = ");
    if (xy_equal == true) ECHO_EM("true"); else ECHO_EM("false");
    ECHO_SM(DB, "xz_equal = ");
    if (xz_equal == true) ECHO_EM("true"); else ECHO_EM("false");
    ECHO_SM(DB, "yz_equal = ");
    if (yz_equal == true) ECHO_EM("true"); else ECHO_EM("false");

    low_opp = bed_level_ox;
    high_opp = low_opp;
    if (bed_level_oy < low_opp) low_opp = bed_level_oy;
    if (bed_level_oy > high_opp) high_opp = bed_level_oy;
    if (bed_level_oz < low_opp) low_opp = bed_level_oz;
    if (bed_level_oz > high_opp) high_opp = bed_level_oz;

    ECHO_LMV(DB, "Opp Range = ", high_opp - low_opp, 5);

    if (high_opp - low_opp  < ac_prec) {
      ECHO_LM(DB, "Opposite Points within Limits - Adjustment not required");
      t1_err = false;
      t2_err = false;
      t3_err = false;
    }

    //All Towers have errors 
    if ((t1_err == true) and (t2_err == true) and (t3_err == true)) {
      if ((xy_equal == false) or (xz_equal == false) or (yz_equal == false)) {
        //Errors not equal .. select the tower that needs to be adjusted
        if (abs(high_diff - x_diff) < 0.00001) err_tower = 1;
        if (abs(high_diff - y_diff) < 0.00001) err_tower = 2;
        if (abs(high_diff - z_diff) < 0.00001) err_tower = 3;
        ECHO_SMV(DB, "Tower ", err_tower);
        ECHO_EM(" has largest error");
      }
      if ((xy_equal == true) and (xz_equal == true) and (yz_equal == true)) {
        ECHO_LM(DB, "All Towers Errors Equal");
        t1_err = false;
        t2_err = false;
        t3_err = false;
      }
    }

    //Two tower errors
    if ((t1_err == true) and (t2_err == true) and (t3_err == false)) err_tower = 3;
    if ((t1_err == true) and (t2_err == false) and (t3_err == true)) err_tower = 2;
    if ((t1_err == false) and (t2_err == true) and (t3_err == true)) err_tower = 1;

    //Single tower error
    if ((t1_err == true) and (t2_err == false) and (t3_err == false)) err_tower = 1;
    if ((t1_err == false) and (t2_err == true) and (t3_err == false)) err_tower = 2;
    if ((t1_err == false) and (t2_err == false) and (t3_err == true)) err_tower = 3;

    ECHO_SM(DB, "t1:");
    if (t1_err == true) ECHO_M("Err"); else ECHO_M("OK");
    ECHO_M(" t2:");
    if (t2_err == true) ECHO_M("Err"); else ECHO_M("OK");
    ECHO_M(" t3:");
    if (t3_err == true) ECHO_M("Err"); else ECHO_M("OK");
    ECHO_E;

    if (err_tower == 0) {
      ECHO_LM(DB, "Tower geometry OK");
    }
    else {
      //If a tower has been adjusted previously.. continue to correct by adjusting that tower! (but only if the difference between the opp points is still large)
      if (high_opp - low_opp  > ac_prec * 2) {
        if ((tower_adj[0] != 0) or (tower_adj[3] != 0)) {
          ECHO_LM(DB, "Tower 1 has already been adjusted");
          err_tower = 1;
        }
        if ((tower_adj[1] != 0) or (tower_adj[4] != 0)) {
          ECHO_LM(DB, "Tower 2 has already been adjusted");
          err_tower = 2;
        }
        if ((tower_adj[2] != 0) or (tower_adj[5] != 0)) {
          ECHO_LM(DB, "Tower 3 has already been adjusted");
          err_tower = 3;
        }
      }
      ECHO_SMV(DB, "Tower", int(err_tower));
      ECHO_EM(" Error: Adjusting");
      adj_tower_radius(err_tower);
      //adj_tower_delta(err_tower);
    }

    //Set return value to indicate if anything has been changed (0 = no change)
    int retval = 0;
    for (int8_t i = 0; i < 6; i++) if (saved_tower_adj[i] != tower_adj[i]) retval++;
    return retval;
  }

  int adj_deltaradius() { 
    float adj_r;
    float prev_c;
    int c_nochange_count = 0;
    float nochange_r;

    bed_level_c = probe_bed(0.0, 0.0);

    if ((bed_level_c >= -ac_prec / 2) and (bed_level_c <= ac_prec / 2)) {
      ECHO_LM(DB, "Delta Radius OK");
      return 0;
    }
    else {
      ECHO_LM(DB, "Adjusting Delta Radius");
      //set inital direction and magnitude for delta radius adjustment
      adj_r = 0.1;
      if (bed_level_c > 0) adj_r = -0.1;

      bed_safe_z = Z_RAISE_BETWEEN_PROBINGS - z_probe_offset[Z_AXIS];

      do {
        delta_radius += adj_r;
        set_delta_constants();

        prev_c = bed_level_c;
        bed_level_c = probe_bed(0.0, 0.0);

        //Show progress
        ECHO_SMV(DB, "r:", delta_radius, 4);
        ECHO_MV(" (adj:", adj_r, 4);
        ECHO_EMV(") c:",bed_level_c, 4);

        //Adjust delta radius
        if (((adj_r > 0) and (bed_level_c < prev_c)) or ((adj_r < 0) and (bed_level_c > prev_c))) adj_r = -(adj_r / 2);

        //Count iterations with no change to c probe point
        if (bed_level_c == prev_c) c_nochange_count ++;
        if (c_nochange_count == 1) nochange_r = delta_radius;

      } while(((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)) and (c_nochange_count < 3));

      if (c_nochange_count > 0) {
        delta_radius = nochange_r;
        set_delta_constants();
        bed_safe_z = Z_RAISE_BETWEEN_PROBINGS - z_probe_offset[Z_AXIS];
      }
      return 1;
    }
  }

  void adj_tower_radius(int tower) {
    boolean done,t1_done,t2_done,t3_done;
    int nochange_count;
    float target, prev_target, prev_bed_level;
    float temp, adj_target;

    //Set inital tower adjustment values
    adj_t1_Radius = 0;
    adj_t2_Radius = 0;
    adj_t3_Radius = 0;
    nochange_count = 0;

    if ((tower == 1) and (adj_t1_Radius == 0)) {
      target = (bed_level_oy + bed_level_oz) / 2;
      temp = (bed_level_ox - target) / 2;
      adj_target = target + temp;
      if (bed_level_ox < adj_target) adj_t1_Radius = -0.4;
      if (bed_level_ox > adj_target) adj_t1_Radius = 0.4;
    }
    if ((tower == 2) and (adj_t2_Radius == 0)) {
      target = (bed_level_ox + bed_level_oz) / 2;
      temp = (bed_level_oy - target) / 2;
      adj_target = target + temp;
      if (bed_level_oy < adj_target) adj_t2_Radius = -0.4;
      if (bed_level_oy > adj_target) adj_t2_Radius = 0.4;
    }
    if ((tower == 3) and (adj_t3_Radius == 0)) {
      target = (bed_level_oy + bed_level_ox) / 2;
      temp = (bed_level_oz - target) / 2;
      adj_target = target + temp;
      if (bed_level_oz < adj_target) adj_t3_Radius = -0.4; //0.4;
      if (bed_level_oz > adj_target) adj_t3_Radius = 0.4; //-0.4;
    }

    do {
      tower_adj[3] += adj_t1_Radius;
      tower_adj[4] += adj_t2_Radius;
      tower_adj[5] += adj_t3_Radius;
      set_delta_constants();

      //done = false;
      t1_done = false;
      t2_done = false;
      t3_done = false;
      if (tower == 1) {
        t2_done = true;
        t3_done = true;
        prev_target = adj_target;
        prev_bed_level = bed_level_ox;

        bed_level_ox = probe_bed(SIN_60 * bed_radius, COS_60 * bed_radius);
        bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
        bed_level_oz = probe_bed(0.0, -bed_radius);

        target = (bed_level_oy + bed_level_oz) / 2;
        temp = (bed_level_ox - target) / 2;
        adj_target = target + temp;
        if (((bed_level_ox < adj_target) and (adj_t1_Radius > 0)) or ((bed_level_ox > adj_target) and (adj_t1_Radius < 0))) adj_t1_Radius = -(adj_t1_Radius / 2);
        if (bed_level_ox == adj_target) t1_done = true;
        if ((bed_level_ox + 0.0001 > prev_bed_level) and (bed_level_ox - 0.0001 < prev_bed_level) and (adj_target + 0.0001 > prev_target) and (adj_target - 0.0001 < prev_target)) nochange_count ++;
        if (nochange_count > 1) {
          ECHO_LM(DB, "Stuck in Loop.. Exiting");
          t1_done = true;
        }

        ECHO_SMV(DB, "target:", adj_target, 6);
        ECHO_MV(" ox:", bed_level_ox, 6);
        ECHO_MV(" tower radius adj:", tower_adj[3], 6);
        if (t1_done == true) ECHO_EM(" done:true"); else ECHO_EM(" done:false");
      }

      if (tower == 2) {
        t1_done = true;
        t3_done = true;
        prev_target = adj_target;
        prev_bed_level = bed_level_oy;

        bed_level_ox = probe_bed(SIN_60 * bed_radius, COS_60 * bed_radius);
        bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
        bed_level_oz = probe_bed(0.0, -bed_radius);

        target = (bed_level_ox + bed_level_oz) /2;
        temp = (bed_level_oy - target) / 2;
        adj_target = target + temp;
        if (((bed_level_oy < adj_target) and (adj_t2_Radius > 0)) or ((bed_level_oy > adj_target) and (adj_t2_Radius < 0))) adj_t2_Radius = -(adj_t2_Radius / 2);
        if (bed_level_oy == adj_target) t2_done = true;
        if ((bed_level_oy + 0.0001 > prev_bed_level) and (bed_level_oy - 0.0001 < prev_bed_level) and (adj_target + 0.0001 > prev_target) and (adj_target - 0.0001 < prev_target)) nochange_count ++;
        if (nochange_count > 1) {
          ECHO_LM(DB, "Stuck in Loop.. Exiting");
          t2_done = true;
        }

        ECHO_SMV(DB, "target:", adj_target, 6);
        ECHO_MV(" oy:", bed_level_oy, 6);
        ECHO_MV(" tower radius adj:", tower_adj[4], 6);
        if (t2_done == true) ECHO_EM(" done:true"); else ECHO_EM(" done:false");
      }

      if (tower == 3) {
        t1_done = true;
        t2_done = true;
        prev_target = adj_target;
        prev_bed_level = bed_level_oz;

        bed_level_ox = probe_bed(SIN_60 * bed_radius, COS_60 * bed_radius);
        bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
        bed_level_oz = probe_bed(0.0, -bed_radius);

        target = (bed_level_oy + bed_level_ox) / 2;
        temp = (bed_level_oz - target) / 2;
        adj_target = target + temp;
        if (((bed_level_oz < adj_target) and (adj_t3_Radius > 0)) or ((bed_level_oz > adj_target) and (adj_t3_Radius < 0))) adj_t3_Radius = -(adj_t3_Radius / 2);
        if (bed_level_oz == adj_target) t3_done = true;
        if ((bed_level_oz + 0.0001 > prev_bed_level) and (bed_level_oz - 0.0001 < prev_bed_level) and (adj_target + 0.0001 > prev_target) and (adj_target - 0.0001 < prev_target)) nochange_count ++;
        if (nochange_count > 1) {
          ECHO_LM(DB, "Stuck in Loop.. Exiting");
          t3_done = true;
        }
        ECHO_SMV(DB, "target:", adj_target, 6);
        ECHO_MV(" oz:", bed_level_oz, 6);
        ECHO_MV(" tower radius adj:", tower_adj[5], 6);
        if (t3_done == true) ECHO_EM(" done:true"); else ECHO_EM(" done:false");
      }

    } while ((t1_done == false) or (t2_done == false) or (t3_done == false));
  }

  void adj_tower_delta(int tower) {
    float adj_val = 0;
    float adj_mag = 0.2;
    float adj_prv;

    do {

      tower_adj[tower - 1] += adj_val;
      set_delta_constants();

      if ((tower == 1) or (tower == 3)) bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
      if ((tower == 1) or (tower == 2)) bed_level_oz = probe_bed(0.0, -bed_radius);
      if ((tower == 2) or (tower == 3)) bed_level_ox = probe_bed(SIN_60 * bed_radius, COS_60 * bed_radius);

      adj_prv = adj_val;
      adj_val = 0;

      if (tower == 1) {
        if (bed_level_oy < bed_level_oz) adj_val = adj_mag;
        if (bed_level_oy > bed_level_oz) adj_val = -adj_mag;
      }

      if (tower == 2) {
        if (bed_level_oz < bed_level_ox) adj_val = adj_mag;
        if (bed_level_oz > bed_level_ox) adj_val = -adj_mag;
      }

      if (tower == 3) {
        if (bed_level_ox < bed_level_oy) adj_val = adj_mag;
        if (bed_level_ox > bed_level_oy) adj_val = -adj_mag;
      }
         
      if ((adj_val > 0) and (adj_prv < 0)) {
        adj_mag = adj_mag / 2;
        adj_val = adj_mag;
      }

      if ((adj_val < 0) and (adj_prv > 0)) {
        adj_mag = adj_mag / 2;
        adj_val = -adj_mag;
      }

      //Show Adjustments made
      if (tower == 1) {
        ECHO_SMV(DB, "oy:", bed_level_oy, 4);
        ECHO_MV(" oz:", bed_level_oz, 4);
      }

      if (tower == 2) {
        ECHO_SMV(DB, "ox:", bed_level_ox, 4);
        ECHO_MV(" oz:", bed_level_oz, 4);
      }

      if (tower == 3) {
        ECHO_SMV(DB, "ox:", bed_level_ox, 4);
        ECHO_MV(" oy:", bed_level_oy, 4);
      }

      ECHO_EMV(" tower delta adj:", adj_val, 5);
    } while(adj_val != 0);
  }

  float adj_diagrod_length() {
    float adj_val = 0;
    float adj_mag = 0.2;
    float adj_prv, target;
    float prev_diag_rod = delta_diagonal_rod;

    do {
      delta_diagonal_rod += adj_val;
      set_delta_constants();

      bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
      bed_level_oz = probe_bed(0.0, -bed_radius);
      bed_level_ox = probe_bed(SIN_60 * bed_radius, COS_60 * bed_radius);
      bed_level_c = probe_bed(0.0, 0.0);

      target = (bed_level_ox + bed_level_oy + bed_level_oz) / 3;
      adj_prv = adj_val;
      adj_val = 0;

      if (bed_level_c - 0.005 < target) adj_val = -adj_mag;
      if (bed_level_c + 0.005 > target) adj_val = adj_mag;

      if (((adj_val > 0) and (adj_prv < 0)) or ((adj_val < 0) and (adj_prv > 0))) {
        adj_val = adj_val / 2;
        adj_mag = adj_mag / 2;
      }

      if ((bed_level_c - 0.005 < target) and (bed_level_c + 0.005 > target)) adj_val = 0;

      //If adj magnatude is very small.. quit adjusting
      if ((abs(adj_val) < 0.001) and (adj_val != 0)) adj_val = 0;

      ECHO_SMV(DB, "target:", target, 4);
      ECHO_MV(" c:", bed_level_c, 4);
      ECHO_EMV(" adj:", adj_val, 5);
    } while(adj_val != 0);
    return (delta_diagonal_rod - prev_diag_rod);
  }

  float z_probe() {
    feedrate = AUTOCAL_TRAVELRATE * 60;
    prepare_move();
    st_synchronize();

    enable_endstops(true);
    float start_z = current_position[Z_AXIS];
    long start_steps = st_get_position(Z_AXIS);

    feedrate = AUTOCAL_PROBERATE * 60;
    destination[Z_AXIS] = -20;
    prepare_move_raw();
    st_synchronize();
    endstops_hit_on_purpose();

    enable_endstops(false);
    long stop_steps = st_get_position(Z_AXIS);

    float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
    current_position[Z_AXIS] = mm;
    sync_plan_position_delta();

    // Save tower carriage positions for G30 diagnostic reports
    saved_position[X_AXIS] = st_get_position_mm(X_AXIS);
    saved_position[Y_AXIS] = st_get_position_mm(Y_AXIS);
    saved_position[Z_AXIS] = st_get_position_mm(Z_AXIS);

    destination[Z_AXIS] = mm + Z_RAISE_BETWEEN_PROBINGS;
    prepare_move_raw();
    st_synchronize();
    return mm;
  }

  void calibrate_print_surface(float z_offset) {
    float probe_bed_z, probe_z, probe_h, probe_l;
    int probe_count, auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;

    int left_probe_bed_position = LEFT_PROBE_BED_POSITION,
        right_probe_bed_position = RIGHT_PROBE_BED_POSITION,
        front_probe_bed_position = FRONT_PROBE_BED_POSITION,
        back_probe_bed_position = BACK_PROBE_BED_POSITION;

    // probe at the points of a lattice grid
    const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
              yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);

    delta_grid_spacing[0] = xGridSpacing;
    delta_grid_spacing[1] = yGridSpacing;

    // First point
    bed_level_c = probe_bed(0.0, 0.0);

    bool zig = true;

    for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
      double yProbe = front_probe_bed_position + yGridSpacing * yCount;
      int xStart, xStop, xInc;

      if (zig) {
        xStart = 0;
        xStop = auto_bed_leveling_grid_points;
        xInc = 1;
      }
      else {
        xStart = auto_bed_leveling_grid_points - 1;
        xStop = -1;
        xInc = -1;
      }

      zig = !zig;

      for (int xCount = xStart; xCount != xStop; xCount += xInc) {
        double xProbe = left_probe_bed_position + xGridSpacing * xCount;

        // Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
        float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
        if (distance_from_center > DELTA_PROBABLE_RADIUS) continue;

        bed_level[xCount][yCount] = probe_bed(xProbe, yProbe);

        idle();
      } //xProbe
    } //yProbe

    extrapolate_unprobed_bed_level();
    print_bed_level();
  }

  float probe_bed(float x, float y) {
    //Probe bed at specified location and return z height of bed
    float probe_z, probe_bed_array[20];
    int probe_count;
    boolean probe_done;

    destination[X_AXIS] = x - z_probe_offset[X_AXIS];
    if (destination[X_AXIS] < X_MIN_POS) destination[X_AXIS] = X_MIN_POS;
    if (destination[X_AXIS] > X_MAX_POS) destination[X_AXIS] = X_MAX_POS;
    destination[Y_AXIS] = y - z_probe_offset[Y_AXIS];
    if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS;
    if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;

    probe_count = 0;
    do {
      probe_z = z_probe() + z_probe_offset[Z_AXIS];
      probe_bed_array[probe_count] = probe_z;
      probe_done = false;
      if (probe_count > 0) {
        for(int xx = 0; xx < probe_count; xx++) {
          if (probe_bed_array[xx] == probe_z) probe_done = true;
        }
      }
      probe_count ++;
    } while ((probe_done == false) and (probe_count < 20));

    bed_safe_z = probe_z + 2;
    return probe_z;
  }

  void bed_probe_all() {
    //Do inital move to safe z level above bed
    feedrate = AUTOCAL_TRAVELRATE * 60;
    destination[Z_AXIS] = bed_safe_z;
    prepare_move_raw();
    st_synchronize();

    //Initial throwaway probe.. used to stabilize probe
    bed_level_c = probe_bed(0.0, 0.0);
    //save_carriage_positions(0);

    //Probe all bed positions & store carriage positions
    bed_level_z = probe_bed(0.0, bed_radius);
    save_carriage_positions(1);
    bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
    save_carriage_positions(2);
    bed_level_x = probe_bed(-SIN_60 * bed_radius, -COS_60 * bed_radius);
    save_carriage_positions(3);
    bed_level_oz = probe_bed(0.0, -bed_radius);
    save_carriage_positions(4);
    bed_level_y = probe_bed(SIN_60 * bed_radius, -COS_60 * bed_radius);
    save_carriage_positions(5);
    bed_level_ox = probe_bed(SIN_60 * bed_radius, COS_60 * bed_radius);
    save_carriage_positions(6);
    bed_level_c = probe_bed(0.0, 0.0);
    save_carriage_positions(0);
  }

  void calibration_report() {
    //Display Report
    ECHO_LM(DB, "|\tZ-Tower\t\t\tEndstop Offsets");

    ECHO_SM(DB, "| \t");
    if (bed_level_z >= 0) ECHO_M(" ");
    ECHO_MV("", bed_level_z, 4);
    ECHO_MV("\t\t\tX:", endstop_adj[0]);
    ECHO_MV(" Y:", endstop_adj[1]);
    ECHO_EMV(" Z:", endstop_adj[2]);

    ECHO_SMV(DB, "| ", bed_level_oy, 4);
    ECHO_M("\t\t");
    ECHO_EVM(bed_level_ox, "\t\tTower Offsets", 4);

    ECHO_SM(DB, "| \t");
    if (bed_level_c >= 0) ECHO_M(" ");
    ECHO_MV("", bed_level_c, 4);
    ECHO_MV("\t\t\tA:",tower_adj[0]);
    ECHO_MV(" B:",tower_adj[1]);
    ECHO_EMV(" C:",tower_adj[2]);

    ECHO_SMV(DB, "| ", bed_level_x, 4);
    ECHO_MV("\t\t", bed_level_y, 4);
    ECHO_MV("\t\tI:",tower_adj[3]);
    ECHO_MV(" J:",tower_adj[4]);
    ECHO_EMV(" K:",tower_adj[5]);

    ECHO_SM(DB, "| \t");
    if (bed_level_oz >= 0) {ECHO_M(" ");}
    ECHO_MV("", bed_level_oz, 4);
    ECHO_EMV("\t\t\tDelta Radius: ", delta_radius, 4);

    ECHO_LMV(DB, "| X-Tower\t\tY-Tower\t\tDiagonal Rod: ", delta_diagonal_rod, 4);
    ECHO_E;
  }

  void save_carriage_positions(int position_num) {
    for(int8_t i = 0; i < 3; i++) {
      saved_positions[position_num][i] = saved_position[i];
    }
  }

  void home_delta_axis() {
    saved_feedrate = feedrate;
    saved_feedrate_multiplier = feedrate_multiplier;
    feedrate_multiplier = 100;
    refresh_cmd_timeout();

    enable_endstops(true);

    set_destination_to_current();

    feedrate = 0.0;

    // Pretend the current position is 0,0,0
    for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
    sync_plan_position();

    // Move all carriages up together until the first endstop is hit.
    for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * max_length[Z_AXIS];
    feedrate = 1.732 * homing_feedrate[X_AXIS];
    line_to_destination();
    st_synchronize();
    endstops_hit_on_purpose(); // clear endstop hit flags

    // Destination reached
    set_current_to_destination();

    // take care of back off and rehome now we are all at the top
    HOMEAXIS(X);
    HOMEAXIS(Y);
    HOMEAXIS(Z);

    sync_plan_position_delta();

    #ifdef ENDSTOPS_ONLY_FOR_HOMING
      enable_endstops(false);
    #endif

    feedrate = saved_feedrate;
    feedrate_multiplier = saved_feedrate_multiplier;
    refresh_cmd_timeout();
    endstops_hit_on_purpose(); // clear endstop hit flags
  }

  void prepare_move_raw() {
    refresh_cmd_timeout();
    calculate_delta(destination);
    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate*feedrate_multiplier/60/100.0, active_extruder, active_driver);
    set_current_to_destination();
  }

  void calculate_delta(float cartesian[3]) {
    delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD1_2
                         - sq(delta_tower1_x - cartesian[X_AXIS])
                         - sq(delta_tower1_y - cartesian[Y_AXIS])
                         ) + cartesian[Z_AXIS];
    delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD2_2
                         - sq(delta_tower2_x - cartesian[X_AXIS])
                         - sq(delta_tower2_y - cartesian[Y_AXIS])
                         ) + cartesian[Z_AXIS];
    delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD3_2
                         - sq(delta_tower3_x - cartesian[X_AXIS])
                         - sq(delta_tower3_y - cartesian[Y_AXIS])
                         ) + cartesian[Z_AXIS];
  }

  // Adjust print surface height by linear interpolation over the bed_level array.
  void adjust_delta(float cartesian[3]) {
    if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!

    int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
    float h1 = 0.001 - half, h2 = half - 0.001,
          grid_x = max(h1, min(h2, cartesian[X_AXIS] / delta_grid_spacing[0])),
          grid_y = max(h1, min(h2, cartesian[Y_AXIS] / delta_grid_spacing[1]));
    int floor_x = floor(grid_x), floor_y = floor(grid_y);
    float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
          z1 = bed_level[floor_x + half][floor_y + half],
          z2 = bed_level[floor_x + half][floor_y + half + 1],
          z3 = bed_level[floor_x + half + 1][floor_y + half],
          z4 = bed_level[floor_x + half + 1][floor_y + half + 1],
          left = (1 - ratio_y) * z1 + ratio_y * z2,
          right = (1 - ratio_y) * z3 + ratio_y * z4,
          offset = (1 - ratio_x) * left + ratio_x * right;

    delta[X_AXIS] += offset;
    delta[Y_AXIS] += offset;
    delta[Z_AXIS] += offset;

    /*
    ECHO_SMV(DB, "grid_x=", grid_x);
    ECHO_MV(" grid_y=", grid_y);
    ECHO_MV(" floor_x=", floor_x);
    ECHO_MV(" floor_y=", floor_y);
    ECHO_MV(" ratio_x=", ratio_x);
    ECHO_MV(" ratio_y=", ratio_y);
    ECHO_MV(" z1=", z1);
    ECHO_MV(" z2=", z2);
    ECHO_MV(" z3=", z3);
    ECHO_MV(" z4=", z4);
    ECHO_MV(" left=", left);
    ECHO_MV(" right=", right);
    ECHO_EMV(" offset=", offset);
    */
  }

#endif //DELTA

#if ENABLED(IDLE_OOZING_PREVENT)
  void IDLE_OOZING_retract(bool retracting) {  
    if (retracting && !IDLE_OOZING_retracted[active_extruder]) {
      float oldFeedrate = feedrate;
      set_destination_to_current();
      current_position[E_AXIS] += IDLE_OOZING_LENGTH / volumetric_multiplier[active_extruder];
      feedrate = IDLE_OOZING_FEEDRATE * 60;
      plan_set_e_position(current_position[E_AXIS]);
      prepare_move();
      feedrate = oldFeedrate;
      IDLE_OOZING_retracted[active_extruder] = true;
      //ECHO_EM("-");
    }
    else if (!retracting && IDLE_OOZING_retracted[active_extruder]) {
      float oldFeedrate = feedrate;
      set_destination_to_current();
      current_position[E_AXIS] -= (IDLE_OOZING_LENGTH+IDLE_OOZING_RECOVER_LENGTH) / volumetric_multiplier[active_extruder];
      feedrate = IDLE_OOZING_RECOVER_FEEDRATE * 60;
      plan_set_e_position(current_position[E_AXIS]);
      prepare_move();
      feedrate = oldFeedrate;
      IDLE_OOZING_retracted[active_extruder] = false;
      //ECHO_EM("+");
    }
  }
#endif

#ifdef FWRETRACT
  void retract(bool retracting, bool swapping = false) {

    if (retracting == retracted[active_extruder]) return;

    float oldFeedrate = feedrate;

    set_destination_to_current();

    if (retracting) {

      feedrate = retract_feedrate * 60;
      current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
      plan_set_e_position(current_position[E_AXIS]);
      prepare_move();

      if (retract_zlift > 0.01) {
        current_position[Z_AXIS] -= retract_zlift;
        #if defined(DELTA) || defined(SCARA)
          sync_plan_position_delta();
        #else
          sync_plan_position();
        #endif
        prepare_move();
      }
    }
    else {

      if (retract_zlift > 0.01) {
        current_position[Z_AXIS] += retract_zlift;
        #if defined(DELTA) || defined(SCARA)
          sync_plan_position_delta();
        #else
          sync_plan_position();
        #endif
        //prepare_move();
      }

      feedrate = retract_recover_feedrate * 60;
      float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
      current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
      plan_set_e_position(current_position[E_AXIS]);
      prepare_move();
    }

    feedrate = oldFeedrate;
    retracted[active_extruder] = retracting;

  } // retract()
#endif //FWRETRACT

#ifdef Z_PROBE_SLED

  #ifndef SLED_DOCKING_OFFSET
    #define SLED_DOCKING_OFFSET 0
  #endif

  /**
   * Method to dock/undock a sled designed by Charles Bell.
   *
   * dock[in]     If true, move to MAX_X and engage the electromagnet
   * offset[in]   The additional distance to move to adjust docking location
   */
  static void dock_sled(bool dock, int offset=0) {
    if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
      LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
      ECHO_LM(DB, MSG_POSITION_UNKNOWN);
      return;
    }

    float oldXpos = current_position[X_AXIS]; // save x position
    if (dock) {
      #if Z_RAISE_AFTER_PROBING > 0
        do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // raise Z
      #endif
      do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);  // Dock sled a bit closer to ensure proper capturing
      digitalWrite(SLED_PIN, LOW); // turn off magnet
    }
    else {
      float z_loc = current_position[Z_AXIS];
      if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
      do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
      digitalWrite(SLED_PIN, HIGH); // turn on magnet
    }
    do_blocking_move_to_x(oldXpos); // return to position before docking
  }
#endif //Z_PROBE_SLED

inline void wait_heater() {

  millis_t temp_ms = millis();

  /* See if we are heating up or cooling down */
  target_direction = isHeatingHotend(target_extruder); // true if heating, false if cooling

  cancel_heatup = false;

  #ifdef TEMP_RESIDENCY_TIME
    long residency_start_ms = -1;
    /* continue to loop until we have reached the target temp
      _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
    while((!cancel_heatup)&&((residency_start_ms == -1) ||
          (residency_start_ms >= 0 && (((unsigned int) (millis() - residency_start_ms)) < (TEMP_RESIDENCY_TIME * 1000UL)))) )
  #else
    while ( target_direction ? (isHeatingHotend(target_extruder)) : (isCoolingHotend(target_extruder)&&(no_wait_for_cooling==false)) )
  #endif //TEMP_RESIDENCY_TIME

    { // while loop
      if (millis() > temp_ms + 1000UL) { //Print temp & remaining time every 1s while waiting
        ECHO_MV(MSG_T, degHotend(target_extruder), 1);
        ECHO_MV(" E:", (int)target_extruder);
        #ifdef TEMP_RESIDENCY_TIME
          ECHO_M(" " MSG_W);
          if (residency_start_ms > -1) {
            temp_ms = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residency_start_ms)) / 1000UL;
            ECHO_EV(temp_ms);
          }
          else {
            ECHO_EM("?");
          }
        #else
          ECHO_E;
        #endif
        temp_ms = millis();
      }

      idle();

      #ifdef TEMP_RESIDENCY_TIME
        // start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
        // or when current temp falls outside the hysteresis after target temp was reached
        if ((residency_start_ms == -1 &&  target_direction && (degHotend(target_extruder) >= (degTargetHotend(target_extruder)-TEMP_WINDOW))) ||
            (residency_start_ms == -1 && !target_direction && (degHotend(target_extruder) <= (degTargetHotend(target_extruder)+TEMP_WINDOW))) ||
            (residency_start_ms > -1 && labs(degHotend(target_extruder) - degTargetHotend(target_extruder)) > TEMP_HYSTERESIS) )
        {
          residency_start_ms = millis();
        }
      #endif //TEMP_RESIDENCY_TIME
    }

  LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  refresh_cmd_timeout();
  print_job_start_ms = previous_cmd_ms;
}

inline void wait_bed() {
  millis_t temp_ms = millis();

  cancel_heatup = false;
  target_direction = isHeatingBed(); // true if heating, false if cooling

  while ((target_direction && !cancel_heatup) ? isHeatingBed() : isCoolingBed() && !no_wait_for_cooling) {
    millis_t ms = millis();
    if (ms > temp_ms + 1000UL) { //Print Temp Reading every 1 second while heating up.
      temp_ms = ms;
      float tt = degHotend(active_extruder);
      ECHO_MV(MSG_T, tt);
      ECHO_MV(" E:", active_extruder);
      ECHO_EMV(" " MSG_B, degBed(), 1);
    }
    idle();
  }
  LCD_MESSAGEPGM(MSG_BED_DONE);
  refresh_cmd_timeout();
}

/******************************************************************************
***************************** G-Code Functions ********************************
*******************************************************************************/

/**
 * Set XYZE destination and feedrate from the current GCode command
 *
 *  - Set destination from included axis codes
 *  - Set to current for missing axis codes
 *  - Set the feedrate, if included
 */
void gcode_get_destination() {
  #if ENABLED(IDLE_OOZING_PREVENT)
    if(code_seen(axis_codes[E_AXIS])) IDLE_OOZING_retract(false);
  #endif 
  for (int i = 0; i < NUM_AXIS; i++) {
    if (code_seen(axis_codes[i])) {
      destination[i] = code_value() + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
    }
    else {
      destination[i] = current_position[i];
    }
  }
  if (code_seen('F')) {
    float next_feedrate = code_value();
    if (next_feedrate > 0.0) feedrate = next_feedrate;
  }
}

void unknown_command_error() {
  ECHO_SMV(DB, MSG_UNKNOWN_COMMAND, current_command);
  ECHO_M("\"\n");
}

/**
 * G0, G1: Coordinated movement of X Y Z E axes
 */
inline void gcode_G0_G1() {
  if (IsRunning()) {
    gcode_get_destination(); // For X Y Z E F

    #ifdef FWRETRACT
      if (autoretract_enabled && !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
        float echange = destination[E_AXIS] - current_position[E_AXIS];
        // Is this move an attempt to retract or recover?
        if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
          current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
          plan_set_e_position(current_position[E_AXIS]);  // AND from the planner
          retract(!retracted[active_extruder]);
          return;
        }
      }
    #endif //FWRETRACT

    prepare_move();
  }
}

/**
 * G2: Clockwise Arc
 * G3: Counterclockwise Arc
 */
inline void gcode_G2_G3(bool clockwise) {
  if (IsRunning()) {

    #ifdef SF_ARC_FIX
      bool relative_mode_backup = relative_mode;
      relative_mode = true;
    #endif

    gcode_get_destination();

    #ifdef SF_ARC_FIX
      relative_mode = relative_mode_backup;
    #endif

    // Center of arc as offset from current_position
    float arc_offset[2] = {
      code_seen('I') ? code_value() : 0,
      code_seen('J') ? code_value() : 0
    };

    // Send an arc to the planner
    plan_arc(destination, arc_offset, clockwise);

    refresh_cmd_timeout();
  }
}

/**
 * G4: Dwell S<seconds> or P<milliseconds>
 */
inline void gcode_G4() {
  millis_t codenum = 0;

  if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
  if (code_seen('S')) codenum = code_value() * 1000; // seconds to wait

  st_synchronize();
  refresh_cmd_timeout();
  codenum += previous_cmd_ms;  // keep track of when we started waiting

  if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);

  while (millis() < codenum) idle();
}

#ifdef FWRETRACT

  /**
   * G10 - Retract filament according to settings of M207
   * G11 - Recover filament according to settings of M208
   */
  inline void gcode_G10_G11(bool doRetract = false) {
    #if EXTRUDERS > 1
      if (doRetract) {
        retracted_swap[active_extruder] = (code_seen('S') && code_value_short() == 1); // checks for swap retract argument
      }
    #endif
    retract(doRetract
     #if EXTRUDERS > 1
      , retracted_swap[active_extruder]
     #endif
    );
  }

#endif //FWRETRACT

/**
 * G28: Home all axes according to settings
 *
 * Parameters
 *
 *  None  Home to all axes with no parameters.
 *        With QUICK_HOME enabled XY will home together, then Z.
 *
 * Cartesian parameters
 *
 *  X   Home to the X endstop
 *  Y   Home to the Y endstop
 *  Z   Home to the Z endstop
 *
 */
inline void gcode_G28() {

  // Wait for planner moves to finish!
  st_synchronize();

  // For auto bed leveling, clear the level matrix
  #ifdef ENABLE_AUTO_BED_LEVELING
    plan_bed_level_matrix.set_to_identity();
  #elif defined(DELTA)
    reset_bed_level();
  #endif

  setup_for_endstop_move();

  set_destination_to_current();

  feedrate = 0.0;

  bool  homeX = code_seen(axis_codes[X_AXIS]),
        homeY = code_seen(axis_codes[Y_AXIS]),
        homeZ = code_seen(axis_codes[Z_AXIS]),
        homeE = code_seen(axis_codes[E_AXIS]);
        
  home_all_axis = (!homeX && !homeY && !homeZ && !homeE) || (homeX && homeY && homeZ);

  #ifdef NPR2
    if((home_all_axis) || (code_seen(axis_codes[E_AXIS]))) {
      active_driver = active_extruder = 1;
      plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], -200, COLOR_HOMERATE, active_extruder, active_driver);
      st_synchronize();
      old_color = 99;
      active_driver = active_extruder = 0;
    }
  #endif

  #ifdef DELTA
    // A delta can only safely home all axis at the same time
    // all axis have to home at the same time

    // Pretend the current position is 0,0,0
    for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
    sync_plan_position();

    // Move all carriages up together until the first endstop is hit.
    for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
    feedrate = 1.732 * homing_feedrate[X_AXIS];
    line_to_destination();
    st_synchronize();
    endstops_hit_on_purpose(); // clear endstop hit flags

    // Destination reached
    for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];

    // take care of back off and rehome now we are all at the top
    HOMEAXIS(X);
    HOMEAXIS(Y);
    HOMEAXIS(Z);

    sync_plan_position_delta();

  #else // NOT DELTA

    if (home_all_axis || homeZ) {

      #if Z_HOME_DIR > 0  // If homing away from BED do Z first

        HOMEAXIS(Z);

      #elif !defined(Z_SAFE_HOMING) && defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0

        // Raise Z before homing any other axes

        destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
        feedrate = max_feedrate[Z_AXIS] * 60;
        line_to_destination();
        st_synchronize();

      #endif

    } // home_all_axis || homeZ

    #ifdef QUICK_HOME

      if (home_all_axis || (homeX && homeY)) {  // First diagonal move

        current_position[X_AXIS] = current_position[Y_AXIS] = 0;

        #ifdef DUAL_X_CARRIAGE
          int x_axis_home_dir = x_home_dir(active_extruder);
          extruder_duplication_enabled = false;
        #else
          int x_axis_home_dir = home_dir(X_AXIS);
        #endif

        sync_plan_position();

        float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
              mlratio = mlx>mly ? mly/mlx : mlx/mly;

        destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
        destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
        feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
        line_to_destination();
        st_synchronize();

        axis_is_at_home(X_AXIS);
        axis_is_at_home(Y_AXIS);
        sync_plan_position();

        destination[X_AXIS] = current_position[X_AXIS];
        destination[Y_AXIS] = current_position[Y_AXIS];
        line_to_destination();
        feedrate = 0.0;
        st_synchronize();
        endstops_hit_on_purpose(); // clear endstop hit flags

        current_position[X_AXIS] = destination[X_AXIS];
        current_position[Y_AXIS] = destination[Y_AXIS];
        #ifndef SCARA
          current_position[Z_AXIS] = destination[Z_AXIS];
        #endif
      }

    #endif // QUICK_HOME

    #ifdef HOME_Y_BEFORE_X
      // Home Y
      if (home_all_axis || homeY) HOMEAXIS(Y);
    #endif

    // Home X
    if (home_all_axis || homeX) {
      #ifdef DUAL_X_CARRIAGE
        int tmp_extruder = active_extruder;
        extruder_duplication_enabled = false;
        active_extruder = !active_extruder;
        HOMEAXIS(X);
        inactive_extruder_x_pos = current_position[X_AXIS];
        active_extruder = tmp_extruder;
        HOMEAXIS(X);
        // reset state used by the different modes
        memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
        delayed_move_time = 0;
        active_extruder_parked = true;
      #else
        HOMEAXIS(X);
      #endif
    }

    #ifndef HOME_Y_BEFORE_X
      // Home Y
      if (home_all_axis || homeY) HOMEAXIS(Y);
    #endif

    // Home Z last if homing towards the bed
    #if Z_HOME_DIR < 0
      #ifndef Z_SAFE_HOMING
        if (code_seen('M') && !(homeX || homeY)) {
          // Manual G28 bed level
          #ifdef ULTIPANEL
            ECHO_LM(DB, " --LEVEL PLATE SCRIPT--");
            while(!lcd_clicked()) {
              idle(true);
            }
            saved_feedrate = feedrate;
            saved_feedrate_multiplier = feedrate_multiplier;
            feedrate_multiplier = 100;
            refresh_cmd_timeout();

            enable_endstops(true);
            for(int8_t i=0; i < NUM_AXIS; i++) {
              destination[i] = current_position[i];
            }
            feedrate = 0.0;
            #if Z_HOME_DIR > 0  // If homing away from BED do Z first
              HOMEAXIS(Z);
            #endif
            HOMEAXIS(X);
            HOMEAXIS(Y);
            #if Z_HOME_DIR < 0
              HOMEAXIS(Z);
            #endif
            sync_plan_position();

            #ifdef ENDSTOPS_ONLY_FOR_HOMING
              enable_endstops(false);
            #endif

            feedrate = saved_feedrate;
            feedrate_multiplier = saved_feedrate_multiplier;
            refresh_cmd_timeout();
            endstops_hit_on_purpose(); // clear endstop hit flags

            sync_plan_position();

            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_MIN_POS + 5);

            // PROBE FIRST POINT
            set_pageShowInfo(1);
            do_blocking_move_to(LEFT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, current_position[Z_AXIS]);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_MIN_POS);
            while(!lcd_clicked()) {          
              idle(true);
            }

            // PROBE SECOND POINT
            set_pageShowInfo(2);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS],Z_MIN_POS + 5);
            do_blocking_move_to(RIGHT_PROBE_BED_POSITION, FRONT_PROBE_BED_POSITION, current_position[Z_AXIS]);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS],Z_MIN_POS);
            while(!lcd_clicked()) {
              idle(true);
            }

            // PROBE THIRD POINT
            set_pageShowInfo(3);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS],Z_MIN_POS + 5);
            do_blocking_move_to(RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION, current_position[Z_AXIS]);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS],Z_MIN_POS);
            while(!lcd_clicked()) {
              idle(true);
            }     

            // PROBE FOURTH POINT
            set_pageShowInfo(4);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS],Z_MIN_POS + 5);
            do_blocking_move_to(LEFT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION, current_position[Z_AXIS]);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS],Z_MIN_POS);
            while(!lcd_clicked()) {
              idle(true);
            }

            // PROBE CENTER
            set_pageShowInfo(5);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS],Z_MIN_POS + 5);
            do_blocking_move_to((X_MAX_POS-X_MIN_POS)/2, (Y_MAX_POS-Y_MIN_POS)/2, current_position[Z_AXIS]);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS],Z_MIN_POS);
            while(!lcd_clicked()) {
              idle(true);
            }

            // FINISH MANUAL BED LEVEL
            set_pageShowInfo(6);
            do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS],Z_MIN_POS + 5);
            enqueuecommands_P(PSTR("G28"));
          #endif // ULTIPANEL
        }
        else if (home_all_axis || homeZ) HOMEAXIS(Z);
      #elif defined(Z_SAFE_HOMING) && defined(ENABLE_AUTO_BED_LEVELING)// Z Safe mode activated.
        if (home_all_axis) {

          current_position[Z_AXIS] = 0;
          sync_plan_position();

          //
          // Set the probe (or just the nozzle) destination to the safe homing point
          //
          // NOTE: If current_position[X_AXIS] or current_position[Y_AXIS] were set above
          // then this may not work as expected.
          destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
          destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
          destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);
          feedrate = xy_travel_speed;
          // This could potentially move X, Y, Z all together
          line_to_destination();
          st_synchronize();

          // Set current X, Y is the Z_SAFE_HOMING_POINT minus PROBE_OFFSET_FROM_EXTRUDER
          current_position[X_AXIS] = destination[X_AXIS];
          current_position[Y_AXIS] = destination[Y_AXIS];

          HOMEAXIS(Z);
        }
        else if (homeZ) { // Don't need to Home Z twice

          // Let's see if X and Y are homed
          if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {

            // Make sure the probe is within the physical limits
            // NOTE: This doesn't necessarily ensure the probe is also within the bed!
            float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
            if (   cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
                && cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
                && cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
                && cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
              // Set the plan current position to X, Y, 0
              current_position[Z_AXIS] = 0;
              plan_set_position(cpx, cpy, 0, current_position[E_AXIS]);

              // Set Z destination away from bed and raise the axis
              destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS);    // Set destination away from bed
              feedrate = max_feedrate[Z_AXIS] * 60;
              line_to_destination();
              st_synchronize();

              // Home the Z axis
              HOMEAXIS(Z);
            }
            else {
              LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
              ECHO_LM(ER, MSG_ZPROBE_OUT);
            }
          }
          else {
            LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
            ECHO_LM(ER, MSG_POSITION_UNKNOWN);
          }
        }
      #elif defined(Z_SAFE_HOMING)
        if (home_all_axis || homeZ) {

          // Let's see if X and Y are homed
          if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
            current_position[Z_AXIS] = 0;
            sync_plan_position();

            destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT);
            destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT);
            destination[Z_AXIS] = current_position[Z_AXIS] = 0;
            feedrate = xy_travel_speed;
            // This could potentially move X, Y, Z all together
            line_to_destination();
            st_synchronize();

            // Set current X, Y is the Z_SAFE_HOMING_POINT minus PROBE_OFFSET_FROM_EXTRUDER
            current_position[X_AXIS] = destination[X_AXIS];
            current_position[Y_AXIS] = destination[Y_AXIS];
            HOMEAXIS(Z);
          }
          else {
            LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
            ECHO_LM(ER, MSG_POSITION_UNKNOWN);
          }
        }
      #endif //Z_SAFE_HOMING
    #endif //Z_HOME_DIR < 0

    sync_plan_position();

  #endif // !DELTA

  #ifdef SCARA
    sync_plan_position_delta();
  #endif

  clean_up_after_endstop_move();
}

#ifdef ENABLE_AUTO_BED_LEVELING

  void out_of_range_error(const char *p_edge) {
    ECHO_M("?Probe ");
    PS_PGM(p_edge);
    ECHO_EM(" position out of range.");
  }

  /**
   * G29: Detailed Z-Probe, probes the bed at 3 or more points.
   *      Will fail if the printer has not been homed with G28.
   *
   * Enhanced G29 Auto Bed Leveling Probe Routine
   * 
   * Parameters With AUTO_BED_LEVELING_GRID:
   *
   *  P  Set the size of the grid that will be probed (P x P points).
   *     Example: "G29 P4"
   *
   *  S  Set the XY travel speed between probe points (in mm/min)
   *
   *  D  Dry-Run mode. Just evaluate the bed Topology - Don't apply
   *     or clean the rotation Matrix. Useful to check the topology
   *     after a first run of G29.
   *
   *  V  Set the verbose level (0-4). Example: "G29 V3"
   *
   *  T  Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
   *     This is useful for manual bed leveling and finding flaws in the bed (to
   *     assist with part placement).
   *
   *  F  Set the Front limit of the probing grid
   *  B  Set the Back limit of the probing grid
   *  L  Set the Left limit of the probing grid
   *  R  Set the Right limit of the probing grid
   *
   * Global Parameters:
   *
   * E/e By default G29 will engage the probe, test the bed, then disengage.
   *     Include "E" to engage/disengage the probe for each sample.
   *     There's no extra effect if you have a fixed probe.
   *     Usage: "G29 E" or "G29 e"
   *
   */
  inline void gcode_G29() {

    // Don't allow auto-leveling without homing first
    if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
      LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
      ECHO_LM(ER, MSG_POSITION_UNKNOWN);
      return;
    }

    int verbose_level = code_seen('V') || code_seen('v') ? code_value_short() : 1;
    if (verbose_level < 0 || verbose_level > 4) {
      ECHO_LM(ER,"?(V)erbose Level is implausible (0-4).");
      return;
    }

    bool dryrun = code_seen('D') || code_seen('d'),
         deploy_probe_for_each_reading = code_seen('E');

    #ifdef AUTO_BED_LEVELING_GRID

      bool do_topography_map = verbose_level > 2 || code_seen('T');

      if (verbose_level > 0) {
        ECHO_LM(DB, "G29 Auto Bed Leveling");
        if (dryrun) ECHO_LM(DB,"Running in DRY-RUN mode");
      }

      int auto_bed_leveling_grid_points = code_seen('P') ? code_value_short() : AUTO_BED_LEVELING_GRID_POINTS;
      if (auto_bed_leveling_grid_points < 2) {
        ECHO_LM(ER, "?Number of probed (P)oints is implausible (2 minimum).\n");
        return;
      }

      xy_travel_speed = code_seen('S') ? code_value_short() : XY_TRAVEL_SPEED;

      int left_probe_bed_position = code_seen('L') ? code_value_short() : LEFT_PROBE_BED_POSITION,
          right_probe_bed_position = code_seen('R') ? code_value_short() : RIGHT_PROBE_BED_POSITION,
          front_probe_bed_position = code_seen('F') ? code_value_short() : FRONT_PROBE_BED_POSITION,
          back_probe_bed_position = code_seen('B') ? code_value_short() : BACK_PROBE_BED_POSITION;

      bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
           left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE,
           right_out_r = right_probe_bed_position > MAX_PROBE_X,
           right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
           front_out_f = front_probe_bed_position < MIN_PROBE_Y,
           front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE,
           back_out_b = back_probe_bed_position > MAX_PROBE_Y,
           back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;

      if (left_out || right_out || front_out || back_out) {
        if (left_out) {
          out_of_range_error(PSTR("(L)eft"));
          left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - MIN_PROBE_EDGE;
        }
        if (right_out) {
          out_of_range_error(PSTR("(R)ight"));
          right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
        }
        if (front_out) {
          out_of_range_error(PSTR("(F)ront"));
          front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - MIN_PROBE_EDGE;
        }
        if (back_out) {
          out_of_range_error(PSTR("(B)ack"));
          back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
        }
        return;
      }

    #endif // AUTO_BED_LEVELING_GRID

    #ifdef Z_PROBE_SLED
      dock_sled(false); // engage (un-dock) the probe
    #endif

    st_synchronize();

    if (!dryrun) {
      // make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
      plan_bed_level_matrix.set_to_identity();

      //vector_3 corrected_position = plan_get_position_mm();
      //corrected_position.debug("position before G29");
      vector_3 uncorrected_position = plan_get_position();
      //uncorrected_position.debug("position during G29");
      current_position[X_AXIS] = uncorrected_position.x;
      current_position[Y_AXIS] = uncorrected_position.y;
      current_position[Z_AXIS] = uncorrected_position.z;
      sync_plan_position();
    }

    setup_for_endstop_move();
    feedrate = homing_feedrate[Z_AXIS];

    #ifdef AUTO_BED_LEVELING_GRID

      // probe at the points of a lattice grid
      const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
                yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);

      // solve the plane equation ax + by + d = z
      // A is the matrix with rows [x y 1] for all the probed points
      // B is the vector of the Z positions
      // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
      // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z

      int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;

      double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
             eqnBVector[abl2],     // "B" vector of Z points
             mean = 0.0;

      int probePointCounter = 0;
      bool zig = true;

      for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
        double yProbe = front_probe_bed_position + yGridSpacing * yCount;
        int xStart, xStop, xInc;

        if (zig) {
          xStart = 0;
          xStop = auto_bed_leveling_grid_points;
          xInc = 1;
        }
        else {
          xStart = auto_bed_leveling_grid_points - 1;
          xStop = -1;
          xInc = -1;
        }

        // If do_topography_map is set then don't zig-zag. Just scan in one direction.
        // This gets the probe points in more readable order.
        if (!do_topography_map) zig = !zig;
        for (int xCount = xStart; xCount != xStop; xCount += xInc) {
          double xProbe = left_probe_bed_position + xGridSpacing * xCount;

          // raise extruder
          float measured_z,
                z_before = probePointCounter ? Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS] : Z_RAISE_BEFORE_PROBING;

          // Enhanced G29 - Do not retract servo between probes
          ProbeAction act;
          if (deploy_probe_for_each_reading) // G29 E - Stow between probes
            act = ProbeDeployAndStow;
          else if (yCount == 0 && xCount == xStart)
            act = ProbeDeploy;
          else if (yCount == auto_bed_leveling_grid_points - 1 && xCount == xStop - xInc)
            act = ProbeStow;
          else
            act = ProbeStay;

          measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);

          mean += measured_z;

          eqnBVector[probePointCounter] = measured_z;
          eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
          eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
          eqnAMatrix[probePointCounter + 2 * abl2] = 1;

          probePointCounter++;

          idle();

        } //xProbe
      } //yProbe

      clean_up_after_endstop_move();

      // solve lsq problem
      double plane_equation_coefficients[3];
      qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);

      mean /= abl2;

      if (verbose_level) {
        ECHO_SMV(DB, "Eqn coefficients: a: ", plane_equation_coefficients[0], 8);
        ECHO_MV(" b: ", plane_equation_coefficients[1], 8);
        ECHO_EMV(" d: ", plane_equation_coefficients[2], 8);
        if (verbose_level > 2) {
          ECHO_LMV(DB, "Mean of sampled points: ", mean, 8);
        }
      }

      if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);
      free(plane_equation_coefficients);

      // Show the Topography map if enabled
      if (do_topography_map) {

        ECHO_LM(DB, "Bed Height Topography: \n");
        ECHO_LM(DB, "+-----------+\n");
        ECHO_LM(DB, "|...Back....|\n");
        ECHO_LM(DB, "|Left..Right|\n");
        ECHO_LM(DB, "|...Front...|\n");
        ECHO_LM(DB, "+-----------+\n");

        float min_diff = 999;

        for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
          ECHO_S(DB);
          for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
            int ind = yy * auto_bed_leveling_grid_points + xx;
            float diff = eqnBVector[ind] - mean;

            float x_tmp = eqnAMatrix[ind + 0 * abl2],
              y_tmp = eqnAMatrix[ind + 1 * abl2],
              z_tmp = 0;

            apply_rotation_xyz(plan_bed_level_matrix,x_tmp,y_tmp,z_tmp);

            if (eqnBVector[ind] - z_tmp < min_diff)
              min_diff = eqnBVector[ind] - z_tmp;

            if (diff >= 0.0)
              ECHO_M(" +");   // Include + for column alignment
            else
              ECHO_M(" ");
            ECHO_V(diff, 5);
          } // xx
          ECHO_E;
        } // yy
        ECHO_E;
        if (verbose_level > 3) {
          ECHO_LM(DB, " Corrected Bed Height vs. Bed Topology: \n");
          for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
            ECHO_S(DB);
            for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
              int ind = yy * auto_bed_leveling_grid_points + xx;
              float x_tmp = eqnAMatrix[ind + 0 * abl2],
                y_tmp = eqnAMatrix[ind + 1 * abl2],
                z_tmp = 0;

              apply_rotation_xyz(plan_bed_level_matrix,x_tmp,y_tmp,z_tmp);

              float diff = eqnBVector[ind] - z_tmp - min_diff;
              if (diff >= 0.0)
                ECHO_M(" +");   // Include + for column alignment
              else
                ECHO_M(" ");
              ECHO_V(diff, 5);
            } // xx
            ECHO_E;
          } // yy
          ECHO_E;
        }
      } //do_topography_map
    #else // !AUTO_BED_LEVELING_GRID

      // Actions for each probe
      ProbeAction p1, p2, p3;
      if (deploy_probe_for_each_reading)
        p1 = p2 = p3 = ProbeDeployAndStow;
      else
        p1 = ProbeDeploy, p2 = ProbeStay, p3 = ProbeStow;

      // Probe at 3 arbitrary points
      float z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, p1, verbose_level),
            z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, p2, verbose_level),
            z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, p3, verbose_level);
      clean_up_after_endstop_move();
      if (!dryrun) set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);

    #endif // !AUTO_BED_LEVELING_GRID

    if (verbose_level > 0)
      plan_bed_level_matrix.debug("Bed Level Correction Matrix:");

    if (!dryrun) {
      // Correct the Z height difference from z-probe position and hotend tip position.
      // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
      // When the bed is uneven, this height must be corrected.
      float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
            y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
            z_tmp = current_position[Z_AXIS],
            real_z = st_get_position_mm(Z_AXIS);  //get the real Z (since plan_get_position is now correcting the plane)

      apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the probe offset

      // Get the current Z position and send it to the planner.
      //
      // >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z (most recent plan_set_position/sync_plan_position)
      //
      // >> zprobe_zoffset : Z distance from nozzle to probe (set by default, M851, EEPROM, or Menu)
      //
      // >> Z_RAISE_AFTER_PROBING : The distance the probe will have lifted after the last probe
      //
      // >> Should home_offset[Z_AXIS] be included?
      //
      //      Discussion: home_offset[Z_AXIS] was applied in G28 to set the starting Z.
      //      If Z is not tweaked in G29 -and- the Z probe in G29 is not actually "homing" Z...
      //      then perhaps it should not be included here. The purpose of home_offset[] is to
      //      adjust for inaccurate endstops, not for reasonably accurate probes. If it were
      //      added here, it could be seen as a compensating factor for the Z probe.
      //
      current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
        #if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_SLED)
           + Z_RAISE_AFTER_PROBING
        #endif
        ;
      // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The probe determines Z=0, not "Z home"
      sync_plan_position();
    }

    #ifdef Z_PROBE_SLED
      dock_sled(true); // dock the probe
    #endif

  }

  #if DISABLED(Z_PROBE_SLED)
    inline void gcode_G30() {
      deploy_z_probe(); // Engage Z Servo endstop if available
      st_synchronize();
      // TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
      setup_for_endstop_move();

      feedrate = homing_feedrate[Z_AXIS];

      run_z_probe();
      ECHO_SM(DB, "Bed");
      ECHO_MV(" X: ", current_position[X_AXIS] + 0.0001);
      ECHO_MV(" Y: ", current_position[Y_AXIS] + 0.0001);
      ECHO_EMV(" Z: ", current_position[Z_AXIS] + 0.0001);

      clean_up_after_endstop_move();
      stow_z_probe(); // Retract Z Servo endstop if available
    }
  #endif // !Z_PROBE_SLED
#endif // ENABLE_AUTO_BED_LEVELING

#if defined(DELTA) && defined(Z_PROBE_ENDSTOP)

  /**
   * G29: Delta Z-Probe, probes the bed at more points.
   */
  inline void gcode_G29() {
    if (code_seen('D')) {
      print_bed_level();
      return;
    }

    saved_feedrate = feedrate;
    saved_feedrate_multiplier = feedrate_multiplier;
    feedrate_multiplier = 100;

    home_delta_axis();
    deploy_z_probe();
    calibrate_print_surface(z_probe_offset[Z_AXIS] + (code_seen(axis_codes[Z_AXIS]) ? code_value() : 0.0));
    retract_z_probe();

    clean_up_after_endstop_move();
  }

  /* G30: Delta AutoCalibration
   *
   * Parameters:
   * C  Show Carriage positions
   *
   */
  inline void gcode_G30() {

    //Zero the bed level array
    reset_bed_level();

    if (code_seen('C')) {
      //Show carriage positions 
      ECHO_LM(DB, "Carriage Positions for last scan: ");
      for(int8_t i = 0; i < 7; i++) {
        ECHO_SMV(DB, "[", saved_positions[i][X_AXIS]);
        ECHO_MV(", ", saved_positions[i][Y_AXIS]);
        ECHO_MV(", ", saved_positions[i][Z_AXIS]);
        ECHO_EM("]");
      }
      return;
    }

    if (code_seen('X') and code_seen('Y')) {
      //Probe specified X,Y point
      float x = code_seen('X') ? code_value():0.00;
      float y = code_seen('Y') ? code_value():0.00;
      float probe_value;

      deploy_z_probe();
      probe_value = probe_bed(x, y);
      ECHO_SMV(DB, "Bed Z-Height at X:", x);
      ECHO_MV(" Y:", y);
      ECHO_EMV(" = ", probe_value, 4);

      ECHO_SMV(DB, "Carriage Positions: [", saved_position[X_AXIS]);
      ECHO_MV(", ", saved_position[Y_AXIS]);
      ECHO_MV(", ", saved_position[Z_AXIS]);
      ECHO_EM("]");
      retract_z_probe();
      return;
    }

    saved_feedrate = feedrate;
    saved_feedrate_multiplier = feedrate_multiplier;
    feedrate_multiplier = 100;

    if (code_seen('A')) {
      ECHO_LM(DB, "Starting Auto Calibration...");
      LCD_MESSAGEPGM("Auto Calibration...");
      if (code_has_value()) ac_prec = code_value();
      ECHO_SMV(DB, "Calibration precision: +/-", ac_prec, 2);
      ECHO_EM(" mm");
    }

    home_delta_axis();
    deploy_z_probe();
    bed_safe_z = current_position[Z_AXIS];

    //Probe all points
    bed_probe_all();

    //Show calibration report      
    calibration_report();

    if (code_seen('E')) {
      int iteration = 0;
      do {
        iteration ++;
        ECHO_LMV(DB, "Iteration: ", iteration);

        ECHO_LM(DB, "Checking/Adjusting endstop offsets");
        adj_endstops();

        bed_probe_all();
        calibration_report();
      } while ((bed_level_x < -ac_prec) or (bed_level_x > ac_prec)
            or (bed_level_y < -ac_prec) or (bed_level_y > ac_prec)
            or (bed_level_z < -ac_prec) or (bed_level_z > ac_prec));

      ECHO_LM(DB, "Endstop adjustment complete");
    }

    if (code_seen('R')) {  
      int iteration = 0;
      do {
        iteration ++;
        ECHO_LMV(DB, "Iteration: ", iteration);

        ECHO_LM(DB, "Checking/Adjusting endstop offsets");
        adj_endstops();

        bed_probe_all();
        calibration_report();

        ECHO_LM(DB, "Checking delta radius");
        adj_deltaradius();

      } while ((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)
            or (bed_level_x < -ac_prec) or (bed_level_x > ac_prec)
            or (bed_level_y < -ac_prec) or (bed_level_y > ac_prec)
            or (bed_level_z < -ac_prec) or (bed_level_z > ac_prec));
    }
     
    if (code_seen('I')) {
      ECHO_LMV(DB, "Adjusting Tower Delta for tower", code_value());
      adj_tower_delta(code_value());
      ECHO_LM(DB, "Tower Delta adjustment complete");
    }

    if (code_seen('D')) {
      ECHO_LM(DB, "Adjusting Diagonal Rod Length");
      adj_diagrod_length();
      ECHO_LM(DB, "Diagonal Rod Length adjustment complete");
    }

    if (code_seen('T')) {
      ECHO_LMV(DB, "Adjusting Tower Radius for tower", code_value());
      adj_tower_radius(code_value());
      ECHO_LM(DB, "Tower Radius adjustment complete");
    }

    if (code_seen('A')) {
      int iteration = 0;
      int dr_adjusted;

      do {
        do {
          iteration ++;
          ECHO_LMV(DB, "Iteration: ", iteration);

          ECHO_LM(DB, "Checking/Adjusting endstop offsets");
          adj_endstops();

          bed_probe_all();
          calibration_report();

          if ((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)) {
            ECHO_LM(DB, "Checking delta radius");
            dr_adjusted = adj_deltaradius();
          }
          else dr_adjusted = 0;
          /*
          ECHO_EMV("bed_level_c=", bed_level_c, 4);
          ECHO_EMV("bed_level_x=", bed_level_x, 4);
          ECHO_EMV("bed_level_y=", bed_level_y, 4);
          ECHO_EMV("bed_level_z=", bed_level_z, 4);
          */
        } while ((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)
              or (bed_level_x < -ac_prec) or (bed_level_x > ac_prec)
              or (bed_level_y < -ac_prec) or (bed_level_y > ac_prec)
              or (bed_level_z < -ac_prec) or (bed_level_z > ac_prec)
              or (dr_adjusted != 0));

        if ((bed_level_ox < -ac_prec) or (bed_level_ox > ac_prec) or
            (bed_level_oy < -ac_prec) or (bed_level_oy > ac_prec) or
            (bed_level_oz < -ac_prec) or (bed_level_oz > ac_prec)) {
          ECHO_LM(DB, "Checking for tower geometry errors..");
          if (fix_tower_errors() != 0 ) {
            // Tower positions have been changed .. home to endstops
            ECHO_LM(DB, "Tower Positions changed .. Homing Endstops");
            home_delta_axis();
            bed_safe_z = Z_RAISE_BETWEEN_PROBINGS - z_probe_offset[Z_AXIS];
          }
          else {
            ECHO_LM(DB, "Checking DiagRod Length");
            if (adj_diagrod_length() != 0) { 
              //If diag rod length has been changed .. home to endstops
              ECHO_LM(DB, "Diagonal Rod Length changed .. Homing Endstops");
              home_delta_axis();
              bed_safe_z = Z_RAISE_BETWEEN_PROBINGS - z_probe_offset[Z_AXIS];
            }
          }
          bed_probe_all();
          calibration_report();
        }
        /*
        ECHO_EMV("bed_level_c=", bed_level_c, 4);
        ECHO_EMV("bed_level_x=", bed_level_x, 4);
        ECHO_EMV("bed_level_y=", bed_level_y, 4);
        ECHO_EMV("bed_level_z=", bed_level_z, 4);
        ECHO_EMV("bed_level_ox=", bed_level_ox, 4);
        ECHO_EMV("bed_level_oy=", bed_level_oy, 4);
        ECHO_EMV("bed_level_oz=", bed_level_oz, 4);
        */
      } while((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)
           or (bed_level_x < -ac_prec) or (bed_level_x > ac_prec)
           or (bed_level_y < -ac_prec) or (bed_level_y > ac_prec)
           or (bed_level_z < -ac_prec) or (bed_level_z > ac_prec)
           or (bed_level_ox < -ac_prec) or (bed_level_ox > ac_prec)
           or (bed_level_oy < -ac_prec) or (bed_level_oy > ac_prec)
           or (bed_level_oz < -ac_prec) or (bed_level_oz > ac_prec));

      ECHO_LM(DB, "Autocalibration Complete");
    }

    retract_z_probe();

    //reset LCD alert message
    lcd_reset_alert_level();

    clean_up_after_endstop_move();

  }
#endif // DELTA && Z_PROBE_ENDSTOP

/**
 * G60:  save current position
 *        S<slot> specifies memory slot # (0-based) to save into (default 0)
 */
inline void gcode_G60() {
  int slot = 0;
  if (code_seen('S')) slot = code_value();

  if (slot < 0 || slot >= NUM_POSITON_SLOTS) {
    ECHO_LMV(ER, MSG_INVALID_POS_SLOT, (int)NUM_POSITON_SLOTS);
    return;
  } 
  memcpy(stored_position[slot], current_position, sizeof(*stored_position));
  pos_saved = true;

  ECHO_SM(DB, MSG_SAVED_POS);
  ECHO_MV(" S", slot);
  ECHO_MV("<-X:", stored_position[slot][X_AXIS]);
  ECHO_MV(" Y:", stored_position[slot][Y_AXIS]);
  ECHO_MV(" Z:", stored_position[slot][Z_AXIS]);
  ECHO_EMV(" E:", stored_position[slot][E_AXIS]);
}

/**
 * G61:  Apply/restore saved coordinates to the active extruder.
 *        X Y Z E - Value to add at stored coordinates.
 *        F<speed> - Set Feedrate.
 *        S<slot> specifies memory slot # (0-based) to save into (default 0).
 */
inline void gcode_G61() {
  if (!pos_saved) return;

  bool make_move = false;
  int slot = 0;
  if (code_seen('S')) slot = code_value();

  if (slot < 0 || slot >= NUM_POSITON_SLOTS) {
    ECHO_LMV(ER, MSG_INVALID_POS_SLOT, (int)NUM_POSITON_SLOTS);
    return;
  }

  ECHO_SM(DB, MSG_RESTORING_POS);
  ECHO_MV(" S", slot);
  ECHO_M("->");

  if (code_seen('F')) {
    float next_feedrate = code_value();
    if (next_feedrate > 0.0) feedrate = next_feedrate;
  }

  for(int8_t i = 0; i < NUM_AXIS; i++) {
    if(code_seen(axis_codes[i])) {
      destination[i] = (float)code_value() + stored_position[slot][i];
    }
    else {
      destination[i] = current_position[i];
    }
    ECHO_MV(" ", axis_codes[i]);
    ECHO_MV(":", destination[i]);
  }
  ECHO_E;

  //finish moves
  prepare_move();
  st_synchronize();
}

/**
 * G92: Set current position to given X Y Z E
 */
inline void gcode_G92() {
  if (!code_seen(axis_codes[E_AXIS]))
    st_synchronize();

  bool didXYZ = false;
  for (int i = 0; i < NUM_AXIS; i++) {
    if (code_seen(axis_codes[i])) {
      float v = current_position[i] = code_value();
      if (i == E_AXIS)
        plan_set_e_position(v);
      else
        didXYZ = true;
    }
  }
  if (didXYZ) {
    #if defined(DELTA) || defined(SCARA)
      sync_plan_position_delta();
    #else
      sync_plan_position();
    #endif
  }
}

#ifdef ULTIPANEL

  /**
   * M0: // M0 - Unconditional stop - Wait for user button press on LCD
   * M1: // M1 - Conditional stop - Wait for user button press on LCD
   */
  inline void gcode_M0_M1() {
    char *args = current_command_args;

    millis_t codenum = 0;
    bool hasP = false, hasS = false;
    if (code_seen('P')) {
      codenum = code_value_short(); // milliseconds to wait
      hasP = codenum > 0;
    }
    if (code_seen('S')) {
      codenum = code_value() * 1000; // seconds to wait
      hasS = codenum > 0;
    }

    if (!hasP && !hasS && *args != '\0')
      lcd_setstatus(args, true);
    else {
      LCD_MESSAGEPGM(MSG_USERWAIT);
      #if defined(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
        dontExpireStatus();
      #endif
    }

    lcd_ignore_click();
    st_synchronize();
    refresh_cmd_timeout();
    if (codenum > 0) {
      codenum += previous_cmd_ms;  // keep track of when we started waiting
      while(millis() < codenum && !lcd_clicked()) idle();
      lcd_ignore_click(false);
    }
    else {
      if (!lcd_detected()) return;
      while (!lcd_clicked()) idle();
    }
    if (IS_SD_PRINTING)
      LCD_MESSAGEPGM(MSG_RESUMING);
    else
      LCD_MESSAGEPGM(WELCOME_MSG);
  }
#endif //ULTIPANEL

#ifdef LASERBEAM
  /**
   * M3: S - Setting laser beam
   */
  inline void gcode_M3() {
    if (code_seen('S')) {
      laser_ttl_modulation = constrain(code_value(), 0, 255);
    }
    else {
      laser_ttl_modulation = 0;
    }
  }

  /**
   * M4: Turn on laser beam
   */
  inline void gcode_M4() {
    WRITE(LASER_PWR_PIN, HIGH);
    laser_ttl_modulation = 0;
  }

  /**
   * M5: Turn off laser beam
   */
  inline void gcode_M5() {
    WRITE(LASER_PWR_PIN, LOW);
    laser_ttl_modulation = 0;
  }
#endif //LASERBEAM

#if HAS_FILRUNOUT
  /**
   * M11: Start printing
   */
  inline void gcode_M11() {
    printing = true;
    filrunoutEnqueued = false;
    ECHO_LM(DB, "Start Printing, pause pin active.");
    ECHO_S(RESUME);
    ECHO_E;
    #if HAS_POWER_CONSUMPTION_SENSOR
      startpower = power_consumption_hour;
    #endif
  }
#endif

/**
 * M17: Enable power on all stepper motors
 */
inline void gcode_M17() {
  LCD_MESSAGEPGM(MSG_NO_MOVE);
  enable_all_steppers();
}

#if ENABLED(SDSUPPORT)

  /**
   * M20: List SD card to serial output
   */
  inline void gcode_M20() {
    ECHO_EM(MSG_BEGIN_FILE_LIST);
    card.ls();
    ECHO_EM(MSG_END_FILE_LIST);
  }

  /**
   * M21: Init SD Card
   */
  inline void gcode_M21() {
    card.initsd();
  }

  /**
   * M22: Release SD Card
   */
  inline void gcode_M22() {
    card.release();
  }

  /**
   * M23: Select a file
   */
  inline void gcode_M23() {
    card.openFile(current_command_args, true);
  }

  /**
   * M24: Start SD Print
   */
  inline void gcode_M24() {
    card.startFileprint();
    print_job_start_ms = millis();
    #if HAS_POWER_CONSUMPTION_SENSOR
      startpower = power_consumption_hour;
    #endif
  }

  /**
   * M25: Pause SD Print
   */
  inline void gcode_M25() {
    card.pauseSDPrint();
  }

  /**
   * M26: Set SD Card file index
   */
  inline void gcode_M26() {
    if (card.cardOK && code_seen('S'))
      card.setIndex(code_value_short());
  }

  /**
   * M27: Get SD Card status
   */
  inline void gcode_M27() {
    card.getStatus();
  }

  /**
   * M28: Start SD Write
   */
  inline void gcode_M28() {
    card.openFile(current_command_args, false);
  }

  /**
   * M29: Stop SD Write
   * Processed in write to file routine above
   */
  inline void gcode_M29() {
    // card.saving = false;
  }

  /**
   * M30 <filename>: Delete SD Card file
   */
  inline void gcode_M30() {
    if (card.cardOK) {
      card.closeFile();
      card.removeFile(current_command_args);
    }
  }
#endif

/**
 * M31: Get the time since the start of SD Print (or last M109)
 */
inline void gcode_M31() {
  print_job_stop_ms = millis();
  millis_t t = (print_job_stop_ms - print_job_start_ms) / 1000;
  int min = t / 60, sec = t % 60;
  char time[30];
  sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
  ECHO_LV(DB, time);
  lcd_setstatus(time);
  autotempShutdown();
}

#if ENABLED(SDSUPPORT)

  /**
   * M32: Select file and start SD Print
   */
  inline void gcode_M32() {
    if (card.sdprinting) st_synchronize();

    char* namestartpos = strchr(current_command_args, '!');  // Find ! to indicate filename string start.
    if (!namestartpos)
      namestartpos = current_command_args; // Default name position, 4 letters after the M
    else
      namestartpos++; // to skip the '!'

    bool call_procedure = code_seen('P') && (seen_pointer < namestartpos);

    if (card.cardOK) {
      card.openFile(namestartpos, true, !call_procedure);

      if (code_seen('S') && seen_pointer < namestartpos) // "S" (must occur _before_ the filename!)
        card.setIndex(code_value_short());

      card.startFileprint();
      if (!call_procedure)
        print_job_start_ms = millis(); // procedure calls count as normal print time.
    }
  }

  #ifdef LONG_FILENAME_HOST_SUPPORT

    /**
     * M33: Get the long full path of a file or folder
     *
     * Parameters:
     *   <dospath> Case-insensitive DOS-style path to a file or folder
     *
     * Example:
     *   M33 miscel~1/armchair/armcha~1.gco
     *
     * Output:
     *   /Miscellaneous/Armchair/Armchair.gcode
     */
    inline void gcode_M33() {
      card.printLongPath(current_command_args);
    }

  #endif

  /**
   * M928: Start SD Write
   */
  inline void gcode_M928() {
    card.openLogFile(current_command_args);
  }

#endif // SDSUPPORT

/**
 * M42: Change pin status via GCode
 */
inline void gcode_M42() {
  if (code_seen('S')) {
    int pin_status = code_value_short(),
        pin_number = LED_PIN;

    if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
      pin_number = code_value_short();

    for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
      if (sensitive_pins[i] == pin_number) {
        pin_number = -1;
        break;
      }
    }

    #if HAS_FAN
      if (pin_number == FAN_PIN) fanSpeed = pin_status;
    #endif

    if (pin_number > -1) {
      pinMode(pin_number, OUTPUT);
      digitalWrite(pin_number, pin_status);
      analogWrite(pin_number, pin_status);
    }
  } // code_seen('S')
}

#if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
  /**
   * M48: Z-Probe repeatability measurement function.
   *
   * Usage:
   *   M48 <P#> <X#> <Y#> <V#> <E> <L#>
   *     P = Number of sampled points (4-50, default 10)
   *     X = Sample X position
   *     Y = Sample Y position
   *     V = Verbose level (0-4, default=1)
   *     E = Engage probe for each reading
   *     L = Number of legs of movement before probe
   *  
   * This function assumes the bed has been homed.  Specifically, that a G28 command
   * as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
   * Any information generated by a prior G29 Bed leveling command will be lost and need to be
   * regenerated.
   */
  inline void gcode_M48() {

    double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
    uint8_t verbose_level = 1, n_samples = 10, n_legs = 0;

    if (code_seen('V') || code_seen('v')) {
      verbose_level = code_value_short();
      if (verbose_level < 0 || verbose_level > 4 ) {
        ECHO_LM(ER,"?Verbose Level not plausible (0-4).");
        return;
      }
    }

    if (verbose_level > 0)
      ECHO_LM(DB, "M48 Z-Probe Repeatability test");

    if (code_seen('P') || code_seen('p')) {
      n_samples = code_value_short();
      if (n_samples < 4 || n_samples > 50) {
        ECHO_LM(ER, "?Sample size not plausible (4-50).");
        return;
      }
    }

    double X_current = st_get_position_mm(X_AXIS),
           Y_current = st_get_position_mm(Y_AXIS),
           Z_current = st_get_position_mm(Z_AXIS),
           E_current = st_get_position_mm(E_AXIS),
           X_probe_location = X_current, Y_probe_location = Y_current,
           Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;

    bool deploy_probe_for_each_reading = code_seen('E') || code_seen('e');

    if (code_seen('X') || code_seen('x')) {
      X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
      if (X_probe_location < X_MIN_POS || X_probe_location > X_MAX_POS) {
        out_of_range_error(PSTR("X"));
        return;
      }
    }

    if (code_seen('Y') || code_seen('y')) {
      Y_probe_location = code_value() -  Y_PROBE_OFFSET_FROM_EXTRUDER;
      if (Y_probe_location < Y_MIN_POS || Y_probe_location > Y_MAX_POS) {
        out_of_range_error(PSTR("Y"));
        return;
      }
    }

    if (code_seen('L') || code_seen('l')) {
      n_legs = code_value_short();
      if (n_legs == 1) n_legs = 2;
      if (n_legs < 0 || n_legs > 15) {
        ECHO_LM(ER, "?Number of legs in movement not plausible (0-15).");
        return;
      }
    }

    //
    // Do all the preliminary setup work. First raise the probe.
    //

    st_synchronize();
    plan_bed_level_matrix.set_to_identity();
    plan_buffer_line(X_current, Y_current, Z_start_location, E_current, homing_feedrate[Z_AXIS]/60, active_extruder, active_driver);
    st_synchronize();

    //
    // Now get everything to the specified probe point So we can safely do a probe to
    // get us close to the bed.  If the Z-Axis is far from the bed, we don't want to 
    // use that as a starting point for each probe.
    //
    if (verbose_level > 2)
      ECHO_LM(DB, "Positioning the probe...");

    plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, E_current, homing_feedrate[X_AXIS]/60, active_extruder, active_driver);
    st_synchronize();

    current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
    current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
    current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
    current_position[E_AXIS] = E_current = st_get_position_mm(E_AXIS);

    // 
    // OK, do the initial probe to get us close to the bed.
    // Then retrace the right amount and use that in subsequent probes
    //

    deploy_z_probe();

    setup_for_endstop_move();
    run_z_probe();

    current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
    Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;

    plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, E_current, homing_feedrate[X_AXIS]/60, active_extruder, active_driver);
    st_synchronize();
    current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);

    if (deploy_probe_for_each_reading) stow_z_probe();

    for (uint8_t n=0; n < n_samples; n++) {
      // Make sure we are at the probe location
      do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // this also updates current_position

      if (n_legs) {
        millis_t ms = millis();
        double radius = ms % (X_MAX_LENGTH / 4),       // limit how far out to go
               theta = RADIANS(ms % 360L);
        float dir = (ms & 0x0001) ? 1 : -1;            // clockwise or counter clockwise

        //ECHO_SMV(DB, "starting radius: ",radius);
        //ECHO_MV("   theta: ",theta);
        //ECHO_EMV("   direction: ",dir);

        for (uint8_t l = 0; l < n_legs - 1; l++) {
          ms = millis();
          theta += RADIANS(dir * (ms % 20L));
          radius += (ms % 10L) - 5L;
          if (radius < 0.0) radius = -radius;

          X_current = X_probe_location + cos(theta) * radius;
          X_current = constrain(X_current, X_MIN_POS + 10, X_MAX_POS - 10);
          Y_current = Y_probe_location + sin(theta) * radius;
          Y_current = constrain(Y_current, Y_MIN_POS + 10, Y_MAX_POS - 10);

          if (verbose_level > 3) {
            ECHO_SMV(DB, "x: ", X_current);
            ECHO_EMV(" y: ", Y_current);
          }

          do_blocking_move_to(X_current, Y_current, Z_current); // this also updates current_position

        } // n_legs loop

        // Go back to the probe location
        do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // this also updates current_position

      } // n_legs

      if (deploy_probe_for_each_reading) {
        deploy_z_probe(); 
        delay(1000);
      }

      setup_for_endstop_move();
      run_z_probe();

      sample_set[n] = current_position[Z_AXIS];

      //
      // Get the current mean for the data points we have so far
      //
      sum = 0.0;
      for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
      mean = sum / (n + 1);

      //
      // Now, use that mean to calculate the standard deviation for the
      // data points we have so far
      //
      sum = 0.0;
      for (uint8_t j = 0; j <= n; j++) {
        float ss = sample_set[j] - mean;
        sum += ss * ss;
      }
      sigma = sqrt(sum / (n + 1));

      if (verbose_level > 1) {
        ECHO_SV(DB, n + 1);
        ECHO_MV(" of ", (int)n_samples);
        ECHO_EM(" samples");
        ECHO_SMV(DB, "z: ", current_position[Z_AXIS], 6);
        if (verbose_level > 2) {
          ECHO_MV(" mean: ", mean,6);
          ECHO_MV("   sigma: ", sigma,6);
        }
        ECHO_E;
      }

      if (verbose_level > 0) ECHO_E;

      plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, E_current, homing_feedrate[Z_AXIS]/60, active_extruder, active_driver);
      st_synchronize();

      if (deploy_probe_for_each_reading) {
        stow_z_probe();
        delay(1000);
      }
    }

    if (!deploy_probe_for_each_reading) {
      stow_z_probe();
      delay(1000);
    }

    clean_up_after_endstop_move();

    if (verbose_level > 0) ECHO_EMV("Mean: ", mean, 6);

    ECHO_EMV("Standard Deviation: ", sigma, 6);

  }

#endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST

#if HAS_POWER_SWITCH

  /**
   * M80: Turn on Power Supply
   */
  inline void gcode_M80() {
    OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND

    // If you have a switch on suicide pin, this is useful
    // if you want to start another print with suicide feature after
    // a print without suicide...
    #if HAS_SUICIDE
      OUT_WRITE(SUICIDE_PIN, HIGH);
    #endif

    #if defined(ULTIPANEL) || defined(NEXTION)
      powersupply = true;
      LCD_MESSAGEPGM(WELCOME_MSG);
      lcd_update();
    #endif
  }
#endif // HAS_POWER_SWITCH

/**
 * M81: Turn off Power, including Power Supply, if there is one.
 *
 *      This code should ALWAYS be available for EMERGENCY SHUTDOWN!
 */
inline void gcode_M81() {
  disable_all_heaters();
  st_synchronize();
  disable_e();
  finishAndDisableSteppers();
  fanSpeed = 0;
  delay(1000); // Wait 1 second before switching off
  #if HAS_SUICIDE
    st_synchronize();
    suicide();
  #elif HAS_POWER_SWITCH
    OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
  #endif
  #ifdef ULTIPANEL
    #if HAS_POWER_SWITCH
      powersupply = false;
    #endif
    LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
    lcd_update();
  #endif
}

/**
 * M82: Set E codes absolute (default)
 */
inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }

/**
 * M83: Set E codes relative while in Absolute Coordinates (G90) mode
 */
inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }

/**
 * M18, M84: Disable all stepper motors
 */
inline void gcode_M18_M84() {
  if (code_seen('S')) {
    stepper_inactive_time = code_value() * 1000;
  }
  else {
    bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
    if (all_axis) {
      st_synchronize();
      disable_e();
      finishAndDisableSteppers();
    }
    else {
      st_synchronize();
      if (code_seen('X')) disable_x();
      if (code_seen('Y')) disable_y();
      if (code_seen('Z')) disable_z();
      #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
        if (code_seen('E')) {
          disable_e();
        }
      #endif
    }
  }
}

/**
 * M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
 */
inline void gcode_M85() {
  if (code_seen('S')) max_inactive_time = code_value() * 1000;
}

/**
 * M92: Set axis_steps_per_unit
 */
inline void gcode_M92() {
  if (setTargetedHotend(92)) return;

  for(int8_t i = 0; i < NUM_AXIS; i++) {
    if (code_seen(axis_codes[i])) {
      if (i == E_AXIS)
        axis_steps_per_unit[i + target_extruder] = code_value();
      else
        axis_steps_per_unit[i] = code_value();
    }
  }
  st_synchronize();
  // This recalculates position in steps in case user has changed steps/unit
  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}

/**
 * M104: Set hot end temperature
 */
inline void gcode_M104() {
  if (setTargetedHotend(104)) return;
  if (debugLevel & DEBUG_DRYRUN) return;

  #if HOTENDS == 1
    if (target_extruder != active_extruder) return;
  #endif

  if (code_seen('S')) {
    float temp = code_value();
    setTargetHotend(temp, target_extruder);
    #ifdef DUAL_X_CARRIAGE
      if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
        setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset);
    #endif
  }
}

/**
 * M105: Read hot end and bed temperature
 */
inline void gcode_M105() {
  if (setTargetedHotend(105)) return;

  #if HAS_TEMP_0 || HAS_TEMP_BED || defined(HEATER_0_USES_MAX6675)
    ECHO_S(OK);
    #if HAS_TEMP_0
      ECHO_MV(MSG_T, degHotend(target_extruder), 1);
      ECHO_MV(" /", degTargetHotend(target_extruder), 1);
    #endif
    #if HAS_TEMP_BED
      ECHO_MV(" " MSG_B, degBed(), 1);
      ECHO_MV(" /", degTargetBed(), 1);
    #endif
    for (int8_t e = 0; e < EXTRUDERS; ++e) {
      ECHO_MV(" T", e);
      ECHO_MV(":", degHotend(e), 1);
      ECHO_MV(" /", degTargetHotend(e), 1);
    }
  #else // !HAS_TEMP_0 && !HAS_TEMP_BED
    ECHO_LM(ER, MSG_ERR_NO_THERMISTORS);
  #endif

  ECHO_M(" " MSG_AT);
  #ifdef HOTEND_WATTS
    ECHO_VM((HOTEND_WATTS * getHeaterPower(target_extruder))/127, "W");
  #else
    ECHO_V(getHeaterPower(target_extruder));
  #endif

  ECHO_M(" " MSG_BAT);
  #ifdef BED_WATTS
    ECHO_VM((BED_WATTS * getHeaterPower(-1))/127, "W");
  #else
    ECHO_V(getHeaterPower(-1));
  #endif

  #ifdef SHOW_TEMP_ADC_VALUES
    #if HAS_TEMP_BED
      ECHO_MV("    ADC B:", degBed(), 1);
      ECHO_MV("C->", rawBedTemp()/OVERSAMPLENR, 0);
    #endif
    for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
      ECHO_MV("  T", cur_extruder);
      ECHO_MV(":", degHotend(cur_extruder),1);
      ECHO_MV("C->", rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
    }
  #endif
  ECHO_E;
}

#if HAS_FAN
  /**
   * M106: Set Fan Speed
   */
  inline void gcode_M106() { fanSpeed = code_seen('S') ? constrain(code_value_short(), 0, 255) : 255; }

  /**
   * M107: Fan Off
   */
  inline void gcode_M107() { fanSpeed = 0; }

#endif // HAS_FAN

/**
 * M109: Wait for extruder(s) to reach temperature
 */
inline void gcode_M109() {
  if (setTargetedHotend(109)) return;
  if (debugLevel & DEBUG_DRYRUN) return;

  #if HOTENDS == 1
    if (target_extruder != active_extruder) return;
  #endif

  LCD_MESSAGEPGM(MSG_HEATING);

  no_wait_for_cooling = code_seen('S');
  if (no_wait_for_cooling || code_seen('R')) {
    float temp = code_value();
    setTargetHotend(temp, target_extruder);
    #ifdef DUAL_X_CARRIAGE
      if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
        setTargetHotend1(temp == 0.0 ? 0.0 : temp + duplicate_extruder_temp_offset);
    #endif
  }

  #ifdef AUTOTEMP
    autotemp_enabled = code_seen('F');
    if (autotemp_enabled) autotemp_factor = code_value();
    if (code_seen('S')) autotemp_min = code_value();
    if (code_seen('B')) autotemp_max = code_value();
  #endif

  wait_heater();
}

/**
 * M111: Debug mode Repetier Host compatibile
 */
inline void gcode_M111() {
  debugLevel = code_seen('S') ? code_value_short() : DEBUG_INFO|DEBUG_COMMUNICATION;

  if (debugLevel & DEBUG_ECHO) ECHO_LM(DB, MSG_DEBUG_ECHO);
  //if (debugLevel & DEBUG_INFO) ECHO_LM(DB, MSG_DEBUG_INFO);
  //if (debugLevel & DEBUG_ERRORS) ECHO_LM(DB, MSG_DEBUG_ERRORS);
  if (debugLevel & DEBUG_DRYRUN) {
    ECHO_LM(DB, MSG_DEBUG_DRYRUN);
    disable_all_heaters();
  }
}

/**
 * M112: Emergency Stop
 */
inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }

/**
 * M114: Output current position to serial port
 */
inline void gcode_M114() {
  //MESSAGE for Host
  ECHO_SMV(OK, "X:", current_position[X_AXIS]);
  ECHO_MV(" Y:", current_position[Y_AXIS]);
  ECHO_MV(" Z:", current_position[Z_AXIS]);
  ECHO_MV(" E:", current_position[E_AXIS]);

  ECHO_MV(MSG_COUNT_X, st_get_position_mm(X_AXIS));
  ECHO_MV(" Y:", st_get_position_mm(Y_AXIS));
  ECHO_EMV(" Z:", st_get_position_mm(Z_AXIS));

  #ifdef SCARA
    //MESSAGE for Host
    ECHO_SMV(OK, " SCARA Theta:", delta[X_AXIS]);
    ECHO_EMV("   Psi+Theta:", delta[Y_AXIS]);

    ECHO_SMV(DB, "SCARA Cal - Theta:", delta[X_AXIS]+home_offset[X_AXIS]);
    ECHO_EMV("   Psi+Theta (90):", delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]);

    ECHO_SMV(DB, "SCARA step Cal - Theta:", delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
    ECHO_EMV("   Psi+Theta:", (delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
  #endif

  if (code_seen('V')) {
    //MESSAGE for user
    ECHO_SMV(DB, "X:", current_position[X_AXIS]);
    ECHO_MV(" Y:", current_position[Y_AXIS]);
    ECHO_MV(" Z:", current_position[Z_AXIS]);
    ECHO_MV(" E:", current_position[E_AXIS]);

    ECHO_MV(MSG_COUNT_X, st_get_position_mm(X_AXIS));
    ECHO_MV(" Y:", st_get_position_mm(Y_AXIS));
    ECHO_EMV(" Z:", st_get_position_mm(Z_AXIS));
    
    #ifdef SCARA
      //MESSAGE for User
      ECHO_SMV(OK, " SCARA Theta:", delta[X_AXIS]);
      ECHO_EMV("   Psi+Theta:", delta[Y_AXIS]);

      ECHO_SMV(DB, "SCARA Cal - Theta:", delta[X_AXIS]+home_offset[X_AXIS]);
      ECHO_EMV("   Psi+Theta (90):", delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]);

      ECHO_SMV(DB, "SCARA step Cal - Theta:", delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
      ECHO_EMV("   Psi+Theta:", (delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
    #endif
  }
}

/**
 * M115: Capabilities string
 */
inline void gcode_M115() {
  ECHO_M(MSG_M115_REPORT);
}

#if defined(ULTIPANEL) || defined(NEXTION)

  /**
   * M117: Set LCD Status Message
   */
  inline void gcode_M117() {
    lcd_setstatus(current_command_args);
  }

#endif

/**
 * M119: Output endstop states to serial output
 */
inline void gcode_M119() {
  ECHO_LV(DB, MSG_M119_REPORT);
  #if HAS_X_MIN
    ECHO_EMV(MSG_X_MIN, ((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_X_MAX
    ECHO_EMV(MSG_X_MAX, ((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Y_MIN
    ECHO_EMV(MSG_Y_MIN, ((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Y_MAX
    ECHO_EMV(MSG_Y_MAX, ((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z_MIN
    ECHO_EMV(MSG_Z_MIN, ((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z_MAX
    ECHO_EMV(MSG_Z_MAX, ((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z2_MAX
    ECHO_EMV(MSG_Z2_MAX, ((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z_PROBE
    ECHO_EMV(MSG_Z_PROBE, ((READ(Z_PROBE_PIN)^Z_PROBE_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_E_MIN
    ECHO_EMV(MSG_E_MIN, ((READ(E_MIN_PIN)^E_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_FILRUNOUT
    ECHO_EMV(MSG_FILRUNOUT_PIN, ((READ(FILRUNOUT_PIN)^FILRUNOUT_PIN_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
  #endif
  ECHO_E;
}

/**
 * M120: Enable endstops
 */
inline void gcode_M120() { enable_endstops(true); }

/**
 * M121: Disable endstops
 */
inline void gcode_M121() { enable_endstops(false); }

#ifdef BARICUDA
  #if HAS_HEATER_1
    /**
     * M126: Heater 1 valve open
     */
    inline void gcode_M126() { ValvePressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
    /**
     * M127: Heater 1 valve close
     */
    inline void gcode_M127() { ValvePressure = 0; }
  #endif

  #if HAS_HEATER_2
    /**
     * M128: Heater 2 valve open
     */
    inline void gcode_M128() { EtoPPressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
    /**
     * M129: Heater 2 valve close
     */
    inline void gcode_M129() { EtoPPressure = 0; }
  #endif

#endif //BARICUDA

/**
 * M140: Set bed temperature
 */
inline void gcode_M140() {
  if (debugLevel & DEBUG_DRYRUN) return;
  if (code_seen('S')) setTargetBed(code_value());
}

#if defined(ULTIPANEL) && TEMP_SENSOR_0 != 0

  /**
   * M145: Set the heatup state for a material in the LCD menu
   *   S<material> (0=PLA, 1=ABS, 2=GUM)
   *   H<hotend temp>
   *   B<bed temp>
   *   F<fan speed>
   */
  inline void gcode_M145() {
    uint8_t material = code_seen('S') ? code_value_short() : 0;
    if (material < 0 || material > 2) {
      ECHO_SM(DB, MSG_ERR_MATERIAL_INDEX);
    }
    else {
      int v;
      switch (material) {
        case 0:
          if (code_seen('H')) {
            v = code_value_short();
            plaPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
          }
          if (code_seen('F')) {
            v = code_value_short();
            plaPreheatFanSpeed = constrain(v, 0, 255);
          }
          #if TEMP_SENSOR_BED != 0
            if (code_seen('B')) {
              v = code_value_short();
              plaPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
            }
          #endif
          break;
        case 1:
          if (code_seen('H')) {
            v = code_value_short();
            absPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
          }
          if (code_seen('F')) {
            v = code_value_short();
            absPreheatFanSpeed = constrain(v, 0, 255);
          }
          #if TEMP_SENSOR_BED != 0
            if (code_seen('B')) {
              v = code_value_short();
              absPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
            }
          #endif
          break;
        case 2:
          if (code_seen('H')) {
            v = code_value_short();
            gumPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
          }
          if (code_seen('F')) {
            v = code_value_short();
            gumPreheatFanSpeed = constrain(v, 0, 255);
          }
          #if TEMP_SENSOR_BED != 0
            if (code_seen('B')) {
              v = code_value_short();
              gumPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
            }
          #endif
          break;
      }
    }
  }

#endif

#ifdef BLINKM
  /**
   * M150: Set Status LED Color - Use R-U-B for R-G-B
   */
  inline void gcode_M150() {
    SendColors(
      code_seen('R') ? (byte)code_value_short() : 0,
      code_seen('U') ? (byte)code_value_short() : 0,
      code_seen('B') ? (byte)code_value_short() : 0
    );
  }

#endif // BLINKM

#if HAS_TEMP_BED
  /**
   * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
   *       Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
   */
  inline void gcode_M190() {
    if (debugLevel & DEBUG_DRYRUN) return;

    LCD_MESSAGEPGM(MSG_BED_HEATING);
    no_wait_for_cooling = code_seen('S');
    if (no_wait_for_cooling || code_seen('R'))
      setTargetBed(code_value());

    wait_bed();
  }
#endif // HAS_TEMP_BED

/**
 * M200: Set filament diameter and set E axis units to cubic millimetres
 *
 *    T<extruder> - Optional extruder number. Current extruder if omitted.
 *    D<mm> - Diameter of the filament. Use "D0" to set units back to millimetres.
 */
inline void gcode_M200() {

  if (setTargetedHotend(200)) return;

  if (code_seen('D')) {
    float diameter = code_value();
    // setting any extruder filament size disables volumetric on the assumption that
    // slicers either generate in extruder values as cubic mm or as as filament feeds
    // for all extruders
    volumetric_enabled = (diameter != 0.0);
    if (volumetric_enabled) {
      filament_size[target_extruder] = diameter;
      // make sure all extruders have some sane value for the filament size
      for (int i = 0; i < EXTRUDERS; i++)
        if (!filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
    }
  }
  else {
    //reserved for setting filament diameter via UFID or filament measuring device
    return;
  }
  calculate_volumetric_multipliers();
}

/**
 * M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
 */
inline void gcode_M201() {
  for (int8_t i = 0; i < NUM_AXIS; i++) {
    if (code_seen(axis_codes[i])) {
      max_acceleration_units_per_sq_second[i] = code_value();
    }
  }
  // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
  reset_acceleration_rates();
}

#if 0 // Not used for Sprinter/grbl gen6
  inline void gcode_M202() {
    for(int8_t i = 0; i < NUM_AXIS; i++) {
      if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
    }
  }
#endif


/**
 * M203: Set maximum feedrate that your machine can sustain in mm/sec
 *
 *    X,Y,Z   = AXIS
 *    T* E    = E_AXIS
 *
 */
inline void gcode_M203() {
  if (setTargetedHotend(203)) return;

  for(int8_t i = 0; i < NUM_AXIS; i++) {
    if (code_seen(axis_codes[i])) {
      if (i == E_AXIS)
        max_feedrate[i + target_extruder] = code_value();
      else
        max_feedrate[i] = code_value();
    }
  }
}

/**
 * M204: Set Accelerations in mm/sec^2 (M204 P1200 T0 R3000 V3000)
 *
 *    P     = Printing moves
 *    T* R  = Retract only (no X, Y, Z) moves
 *    V     = Travel (non printing) moves
 *
 *  Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
 */
inline void gcode_M204() {
  if (setTargetedHotend(204)) return;

  if (code_seen('S')) {  // Kept for legacy compatibility. Should NOT BE USED for new developments.
    acceleration = code_value();
    travel_acceleration = acceleration;
    ECHO_LMV(DB, "Setting Print and Travel Acceleration: ", acceleration );
  }
  if (code_seen('P')) {
    acceleration = code_value();
    ECHO_LMV(DB, "Setting Print Acceleration: ", acceleration );
  }
  if (code_seen('R')) {
    retract_acceleration[target_extruder] = code_value();
    ECHO_LMV(DB, "Setting Retract Acceleration: ", retract_acceleration[target_extruder]);
  }
  if (code_seen('V')) {
    travel_acceleration = code_value();
    ECHO_LMV(DB, "Setting Travel Acceleration: ", travel_acceleration );
  }
}

/**
 * M205: Set Advanced Settings
 *
 *    S = Min Feed Rate (mm/s)
 *    V = Min Travel Feed Rate (mm/s)
 *    B = Min Segment Time (µs)
 *    X = Max XY Jerk (mm/s/s)
 *    Z = Max Z Jerk (mm/s/s)
 *    E = Max E Jerk (mm/s/s)
 */
inline void gcode_M205() {
  if (setTargetedHotend(205)) return;

  if (code_seen('S')) minimumfeedrate = code_value();
  if (code_seen('V')) mintravelfeedrate = code_value();
  if (code_seen('B')) minsegmenttime = code_value();
  if (code_seen('X')) max_xy_jerk = code_value();
  if (code_seen('Z')) max_z_jerk = code_value();
  if (code_seen('E')) max_e_jerk[target_extruder] = code_value();
}

/**
 * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
 */
inline void gcode_M206() {
  for (int8_t i=X_AXIS; i <= Z_AXIS; i++) {
    if (code_seen(axis_codes[i])) {
      home_offset[i] = code_value();
    }
  }
  #ifdef SCARA
    if (code_seen('T')) home_offset[X_AXIS] = code_value(); // Theta
    if (code_seen('P')) home_offset[Y_AXIS] = code_value(); // Psi
  #endif
}

#ifdef FWRETRACT

  /**
   * M207: Set firmware retraction values
   *
   *   S[+mm]    retract_length
   *   W[+mm]    retract_length_swap (multi-extruder)
   *   F[mm/min] retract_feedrate
   *   Z[mm]     retract_zlift
   */
  inline void gcode_M207() {
    if (code_seen('S')) retract_length = code_value();
    if (code_seen('F')) retract_feedrate = code_value() / 60;
    if (code_seen('Z')) retract_zlift = code_value();
    #if EXTRUDERS > 1
      if (code_seen('W')) retract_length_swap = code_value();
    #endif
  }

  /**
   * M208: Set firmware un-retraction values
   *
   *   S[+mm]    retract_recover_length (in addition to M207 S*)
   *   W[+mm]    retract_recover_length_swap (multi-extruder)
   *   F[mm/min] retract_recover_feedrate
   */
  inline void gcode_M208() {
    if (code_seen('S')) retract_recover_length = code_value();
    if (code_seen('F')) retract_recover_feedrate = code_value() / 60;
    #if EXTRUDERS > 1
      if (code_seen('W')) retract_recover_length_swap = code_value();
    #endif
  }

  /**
   * M209: Enable automatic retract (M209 S1)
   *       detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
   */
  inline void gcode_M209() {
    if (code_seen('S')) {
      int t = code_value_short();
      switch(t) {
        case 0:
          autoretract_enabled = false;
          break;
        case 1:
          autoretract_enabled = true;
          break;
        default:
          unknown_command_error();
          return;
      }
      for (int i=0; i < EXTRUDERS; i++) retracted[i] = false;
    }
  }
#endif // FWRETRACT

#if HOTENDS > 1

  /**
   * M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
   */
  inline void gcode_M218() {
    if (setTargetedHotend(218)) return;

    if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value();
    if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value();

    #ifdef DUAL_X_CARRIAGE
      if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value();
    #endif

    ECHO_SM(DB, MSG_HOTEND_OFFSET);
    for (int e = 0; e < HOTENDS; e++) {
      ECHO_MV(" ", hotend_offset[X_AXIS][e]);
      ECHO_MV(",", hotend_offset[Y_AXIS][e]);
      #ifdef DUAL_X_CARRIAGE
        ECHO_MV(",", hotend_offset[Z_AXIS][e]);
      #endif
    }
    ECHO_E;
  }
#endif // HOTENDS > 1

/**
 * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
 */
inline void gcode_M220() {
  if (code_seen('S')) feedrate_multiplier = code_value();
}

/**
 * M221: Set extrusion percentage (M221 T0 S95)
 */
inline void gcode_M221() {
  if (code_seen('S')) {
    int sval = code_value();
    if (code_seen('T')) {
      if (setTargetedHotend(221)) return;
      extruder_multiplier[target_extruder] = sval;
    }
    else {
      extruder_multiplier[active_extruder] = sval;
    }
  }
}

/**
 * M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
 */
inline void gcode_M226() {
  if (code_seen('P')) {
    int pin_number = code_value();

    int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted

    if (pin_state >= -1 && pin_state <= 1) {

      for (uint8_t i = 0; i < COUNT(sensitive_pins); i++) {
        if (sensitive_pins[i] == pin_number) {
          pin_number = -1;
          break;
        }
      }

      if (pin_number > -1) {
        int target = LOW;

        st_synchronize();

        pinMode(pin_number, INPUT);

        switch(pin_state){
          case 1:
            target = HIGH;
            break;

          case 0:
            target = LOW;
            break;

          case -1:
            target = !digitalRead(pin_number);
            break;
        }

        while(digitalRead(pin_number) != target) idle();

      } // pin_number > -1
    } // pin_state -1 0 1
  } // code_seen('P')
}

#if defined(CHDK) || HAS_PHOTOGRAPH
  /**
   * M240: Trigger a camera by emulating a Canon RC-1
   *       See http://www.doc-diy.net/photo/rc-1_hacked/
   */
  inline void gcode_M240() {
    #ifdef CHDK
       OUT_WRITE(CHDK, HIGH);
       chdkHigh = millis();
       chdkActive = true;
    #elif HAS_PHOTOGRAPH
      const uint8_t NUM_PULSES = 16;
      const float PULSE_LENGTH = 0.01524;
      for (int i = 0; i < NUM_PULSES; i++) {
        WRITE(PHOTOGRAPH_PIN, HIGH);
        _delay_ms(PULSE_LENGTH);
        WRITE(PHOTOGRAPH_PIN, LOW);
        _delay_ms(PULSE_LENGTH);
      }
      delay(7.33);
      for (int i = 0; i < NUM_PULSES; i++) {
        WRITE(PHOTOGRAPH_PIN, HIGH);
        _delay_ms(PULSE_LENGTH);
        WRITE(PHOTOGRAPH_PIN, LOW);
        _delay_ms(PULSE_LENGTH);
      }
    #endif // !CHDK && HAS_PHOTOGRAPH
  }
#endif // CHDK || PHOTOGRAPH_PIN

#ifdef HAS_LCD_CONTRAST
  /**
   * M250: Read and optionally set the LCD contrast
   */
  inline void gcode_M250() {
    if (code_seen('C')) lcd_setcontrast(code_value_short() & 0x3F);
    ECHO_LMV(DB, "lcd contrast value: ", lcd_contrast);
  }

#endif // DOGLCD

#if NUM_SERVOS > 0
  /**
   * M280: Get or set servo position. P<index> S<angle>
   */
  inline void gcode_M280() {
    int servo_index = code_seen('P') ? code_value_short() : -1;
    int servo_position = 0;
    if (code_seen('S')) {
      servo_position = code_value_short();
      if (servo_index >= 0 && servo_index < NUM_SERVOS) {
        Servo *srv = &servo[servo_index];
        #if SERVO_LEVELING
          srv->attach(0);
        #endif
        srv->write(servo_position);
        #if SERVO_LEVELING
          delay(SERVO_DEACTIVATION_DELAY);
          srv->detach();
        #endif
      }
      else {
        ECHO_SM(ER, "Servo ");
        ECHO_EVM(servo_index, " out of range");
      }
    }
    else if (servo_index >= 0) {
      ECHO_SMV(OK, " Servo ", servo_index);
      ECHO_EMV(": ", servo[servo_index].read());
    }
  }
#endif // NUM_SERVOS > 0

#if HAS_BUZZER

  /**
   * M300: Play beep sound S<frequency Hz> P<duration ms>
   */
  inline void gcode_M300() {
    uint16_t beepS = code_seen('S') ? code_value_short() : 100;
    uint32_t beepP = code_seen('P') ? code_value_long() : 1000;
    if (beepP > 5000) beepP = 5000; // limit to 5 seconds
    buzz(beepP, beepS);
  }

#endif // HAS_BUZZER


#ifdef PIDTEMP
  /**
   * M301: Set PID parameters P I D
   */
  inline void gcode_M301() {

    // multi-hotend PID patch: M301 updates or prints a single hotend's PID values
    // default behaviour (omitting E parameter) is to update for hotend 0 only
    int e = code_seen('E') ? code_value() : 0; // hotend being updated

    if (e < HOTENDS) { // catch bad input value
      if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
      if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
      if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());

      updatePID();
      ECHO_SMV(OK, "e:", e);
      ECHO_MV(" p:", PID_PARAM(Kp, e));
      ECHO_MV(" i:", unscalePID_i(PID_PARAM(Ki, e)));
      ECHO_EMV(" d:", unscalePID_d(PID_PARAM(Kd, e)));
    }
    else {
      ECHO_LM(ER, MSG_INVALID_EXTRUDER);
    }
  }
#endif // PIDTEMP

#ifdef PREVENT_DANGEROUS_EXTRUDE

  void set_extrude_min_temp(float temp) { extrude_min_temp = temp; }

  /**
   * M302: Allow cold extrudes, or set the minimum extrude S<temperature>.
   */
  inline void gcode_M302() {
    set_extrude_min_temp(code_seen('S') ? code_value() : 0);
  }

#endif // PREVENT_DANGEROUS_EXTRUDE

#if defined(PIDTEMP) || defined(PIDTEMPBED)
  /**
   * M303: PID relay autotune
   *       S<temperature> sets the target temperature. (default target temperature = 150C)
   *       E<extruder> (-1 for the bed)
   *       C<cycles>
   */
  inline void gcode_M303() {
    int e = code_seen('E') ? code_value_short() : 0;
    int c = code_seen('C') ? code_value_short() : 5;
    float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
    PID_autotune(temp, e, c);
  }
#endif

#ifdef PIDTEMPBED
  // M304: Set bed PID parameters P I and D
  inline void gcode_M304() {
    if (code_seen('P')) bedKp = code_value();
    if (code_seen('I')) bedKi = scalePID_i(code_value());
    if (code_seen('D')) bedKd = scalePID_d(code_value());

    updatePID();
    ECHO_SMV(OK, "p:", bedKp);
    ECHO_MV(" i:", unscalePID_i(bedKi));
    ECHO_EMV(" d:", unscalePID_d(bedKd));
  }
#endif // PIDTEMPBED

#if HAS_MICROSTEPS
  // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
  inline void gcode_M350() {
    if(code_seen('S')) for(int i = 0; i <= 4; i++) microstep_mode(i, code_value());
    for(int i = 0; i < NUM_AXIS; i++) if(code_seen(axis_codes[i])) microstep_mode(i, (uint8_t)code_value());
    if(code_seen('B')) microstep_mode(4, code_value());
    microstep_readings();
  }

  /**
   * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
   *       S# determines MS1 or MS2, X# sets the pin high/low.
   */
  inline void gcode_M351() {
    if (code_seen('S')) switch(code_value_short()) {
      case 1:
        for(int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_ms(i, code_value(), -1);
        if (code_seen('B')) microstep_ms(4, code_value(), -1);
        break;
      case 2:
        for(int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) microstep_ms(i, -1, code_value());
        if (code_seen('B')) microstep_ms(4, -1, code_value());
        break;
    }
    microstep_readings();
  }
#endif // HAS_MICROSTEPS

#ifdef SCARA
  bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
    //SoftEndsEnabled = false;              // Ignore soft endstops during calibration
    //ECHO_LM(DB, " Soft endstops disabled ");
    if (IsRunning()) {
      //gcode_get_destination(); // For X Y Z E F
      delta[X_AXIS] = delta_x;
      delta[Y_AXIS] = delta_y;
      calculate_SCARA_forward_Transform(delta);
      destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
      destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
      prepare_move();
      //ok_to_send();
      return true;
    }
    return false;
  }

  /**
   * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
   */
  inline bool gcode_M360() {
    ECHO_LM(DB, " Cal: Theta 0 ");
    return SCARA_move_to_cal(0, 120);
  }

  /**
   * M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
   */
  inline bool gcode_M361() {
    ECHO_LM(DB, " Cal: Theta 90 ");
    return SCARA_move_to_cal(90, 130);
  }

  /**
   * M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
   */
  inline bool gcode_M362() {
    ECHO_LM(DB, " Cal: Psi 0 ");
    return SCARA_move_to_cal(60, 180);
  }

  /**
   * M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
   */
  inline bool gcode_M363() {
    ECHO_LM(DB," Cal: Psi 90 ");
    return SCARA_move_to_cal(50, 90);
  }

  /**
   * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
   */
  inline bool gcode_M364() {
    ECHO_LM(DB, " Cal: Theta-Psi 90 ");
    return SCARA_move_to_cal(45, 135);
  }

  /**
   * M365: SCARA calibration: Scaling factor, X, Y, Z axis
   */
  inline void gcode_M365() {
    for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
      if (code_seen(axis_codes[i])) {
        axis_scaling[i] = code_value();
      }
    }
  }
#endif // SCARA

#ifdef EXT_SOLENOID
  void enable_solenoid(uint8_t num) {
    switch(num) {
      case 0:
        OUT_WRITE(SOL0_PIN, HIGH);
        break;
        #if HAS_SOLENOID_1
          case 1:
            OUT_WRITE(SOL1_PIN, HIGH);
            break;
        #endif
        #if HAS_SOLENOID_2
          case 2:
            OUT_WRITE(SOL2_PIN, HIGH);
            break;
        #endif
        #if HAS_SOLENOID_3
          case 3:
            OUT_WRITE(SOL3_PIN, HIGH);
            break;
        #endif
      default:
        ECHO_LM(ER, MSG_INVALID_SOLENOID);
        break;
    }
  }

  void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }

  void disable_all_solenoids() {
    OUT_WRITE(SOL0_PIN, LOW);
    OUT_WRITE(SOL1_PIN, LOW);
    OUT_WRITE(SOL2_PIN, LOW);
    OUT_WRITE(SOL3_PIN, LOW);
  }

  /**
   * M380: Enable solenoid on the active extruder
   */
  inline void gcode_M380() { enable_solenoid_on_active_extruder(); }

  /**
   * M381: Disable all solenoids
   */
  inline void gcode_M381() { disable_all_solenoids(); }

#endif // EXT_SOLENOID

/**
 * M400: Finish all moves
 */
inline void gcode_M400() { st_synchronize(); }

#if defined(ENABLE_AUTO_BED_LEVELING) && !defined(Z_PROBE_SLED) && SERVO_LEVELING

  #if SERVO_LEVELING
    void raise_z_for_servo() {
      float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING;
      z_dest += axis_known_position[Z_AXIS] ? zprobe_zoffset : zpos;
      if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
    }
  #endif

  /**
   * M401: Engage Z Servo endstop if available
   */
  inline void gcode_M401() {
    #if SERVO_LEVELING
      raise_z_for_servo();
    #endif
    deploy_z_probe();
  }

  /**
   * M402: Retract Z Servo endstop if enabled
   */
  inline void gcode_M402() {
    #if SERVO_LEVELING
      raise_z_for_servo();
    #endif
    stow_z_probe(false);
  }

#endif

#ifdef FILAMENT_SENSOR

  /**
   * M404: Display or set the nominal filament width (3mm, 1.75mm ) W<3.0>
   */
  inline void gcode_M404() {
    #if HAS_FILWIDTH
      if (code_seen('D')) {
        filament_width_nominal = code_value();
      }
      else {
        ECHO_LMV(DB, "Filament dia (nominal mm):", filament_width_nominal);
      }
    #endif
  }
    
  /**
   * M405: Turn on filament sensor for control
   */
  inline void gcode_M405() {
    if (code_seen('D')) meas_delay_cm = code_value();
    if (meas_delay_cm > MAX_MEASUREMENT_DELAY) meas_delay_cm = MAX_MEASUREMENT_DELAY;

    if (delay_index2 == -1) { //initialize the ring buffer if it has not been done since startup
      int temp_ratio = widthFil_to_size_ratio();

      for (delay_index1 = 0; delay_index1 < MAX_MEASUREMENT_DELAY + 1; ++delay_index1)
        measurement_delay[delay_index1] = temp_ratio - 100;  //subtract 100 to scale within a signed byte

      delay_index1 = delay_index2 = 0;
    }

    filament_sensor = true;

    //ECHO_SMV(DB, "Filament dia (measured mm):", filament_width_meas);
    //ECHO_EMV("Extrusion ratio(%):", extruder_multiplier[active_extruder]);
  }

  /**
   * M406: Turn off filament sensor for control
   */
  inline void gcode_M406() { filament_sensor = false; }
  
  /**
   * M407: Get measured filament diameter on serial output
   */
  inline void gcode_M407() {
    ECHO_LMV(DB, "Filament dia (measured mm):", filament_width_meas);
  }

#endif // FILAMENT_SENSOR

/**
 * M410: Quickstop - Abort all planned moves
 *
 * This will stop the carriages mid-move, so most likely they
 * will be out of sync with the stepper position after this.
 */
inline void gcode_M410() { quickStop(); }

/**
 * M428: Set home_offset based on the distance between the
 *       current_position and the nearest "reference point."
 *       If an axis is past center its endstop position
 *       is the reference-point. Otherwise it uses 0. This allows
 *       the Z offset to be set near the bed when using a max endstop.
 *
 *       M428 can't be used more than 2cm away from 0 or an endstop.
 *
 *       Use M206 to set these values directly.
 */
inline void gcode_M428() {
  bool err = false;
  float new_offs[3], new_pos[3];
  memcpy(new_pos, current_position, sizeof(new_pos));
  memcpy(new_offs, home_offset, sizeof(new_offs));
  for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
    if (axis_known_position[i]) {
      #ifdef DELTA
        float base = (new_pos[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos[i] : 0,
      #else
        float base = (new_pos[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0,
      #endif
              diff = new_pos[i] - base;
      if (diff > -20 && diff < 20) {
        new_offs[i] -= diff;
        new_pos[i] = base;
      }
      else {
        ECHO_LM(ER, MSG_ERR_M428_TOO_FAR);
        LCD_ALERTMESSAGEPGM("Err: Too far!");
        #if HAS_BUZZER
          enqueuecommands_P(PSTR("M300 S40 P200"));
        #endif
        err = true;
        break;
      }
    }
  }

  if (!err) {
    memcpy(current_position, new_pos, sizeof(new_pos));
    memcpy(home_offset, new_offs, sizeof(new_offs));
    #if defined(DELTA) || defined(SCARA)
      sync_plan_position_delta();
    #else
      sync_plan_position();
    #endif
    ECHO_LM(DB, "Offset applied.");
    LCD_ALERTMESSAGEPGM("Offset applied.");
    #if HAS_BUZZER
      enqueuecommands_P(PSTR("M300 S659 P200\nM300 S698 P200"));
    #endif
  }
}

/**
 * M500: Store settings in EEPROM
 */
inline void gcode_M500() {
  Config_StoreSettings();
}

/**
 * M501: Read settings from EEPROM
 */
inline void gcode_M501() {
  Config_RetrieveSettings();
}

/**
 * M502: Revert to default settings
 */
inline void gcode_M502() {
  Config_ResetDefault();
}

/**
 * M503: print settings currently in memory
 */
inline void gcode_M503() {
  Config_PrintSettings(code_seen('S') && code_value() == 0);
}

#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED

  /**
   * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
   */
  inline void gcode_M540() {
    if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0);
  }

#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED

#ifdef FILAMENTCHANGEENABLE
  /**
   * M600: Pause for filament change
   *
   *  E[distance] - Retract the filament this far (negative value)
   *  Z[distance] - Move the Z axis by this distance
   *  X[position] - Move to this X position, with Y
   *  Y[position] - Move to this Y position, with X
   *  L[distance] - Retract distance for removal (manual reload)
   *
   *  Default values are used for omitted arguments.
   *
   */
  inline void gcode_M600() {

    if (degHotend(active_extruder) < extrude_min_temp) {
      ECHO_LM(ER, MSG_TOO_COLD_FOR_M600);
      return;
    }

    float lastpos[NUM_AXIS], fr60 = feedrate / 60;

    filament_changing = true;
    for (int i = 0; i < NUM_AXIS; i++)
      lastpos[i] = destination[i] = current_position[i];

    #ifdef DELTA
      #define RUNPLAN calculate_delta(destination); \
                      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder, active_driver);
    #else
      #define RUNPLAN line_to_destination();
    #endif

    //retract by E
    if (code_seen('E')) destination[E_AXIS] += code_value();
    #ifdef FILAMENTCHANGE_FIRSTRETRACT
      else destination[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
    #endif

    RUNPLAN

    //lift Z
    if (code_seen('Z')) destination[Z_AXIS] += code_value();
    #ifdef FILAMENTCHANGE_ZADD
      else destination[Z_AXIS] += FILAMENTCHANGE_ZADD;
    #endif

    RUNPLAN

    //move xy
    if (code_seen('X')) destination[X_AXIS] = code_value();
    #ifdef FILAMENTCHANGE_XPOS
      else destination[X_AXIS] = FILAMENTCHANGE_XPOS;
    #endif

    if (code_seen('Y')) destination[Y_AXIS] = code_value();
    #ifdef FILAMENTCHANGE_YPOS
      else destination[Y_AXIS] = FILAMENTCHANGE_YPOS;
    #endif

    RUNPLAN

    if (code_seen('L')) destination[E_AXIS] += code_value();
    #ifdef FILAMENTCHANGE_FINALRETRACT
      else destination[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
    #endif

    RUNPLAN

    //finish moves
    st_synchronize();
    //disable extruder steppers so filament can be removed
    disable_e();
    delay(100);
    boolean beep = true;
    boolean sleep = false;
    uint8_t cnt = 0;
    
    int old_target_temperature[HOTENDS] = { 0 };
    for (int8_t e = 0; e < HOTENDS; e++) {
      old_target_temperature[e] = target_temperature[e];
    }
    int old_target_temperature_bed = target_temperature_bed;
    millis_t last_set = millis();
    
    PRESSBUTTON:
    LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
    while (!lcd_clicked()) {
      idle(true);
      if ((millis() - last_set > 60000) && cnt <= FILAMENTCHANGE_PRINTEROFF) beep = true;
      if (cnt >= FILAMENTCHANGE_PRINTEROFF && !sleep) {
        disable_all_heaters();
        disable_all_steppers();
        sleep = true;
        lcd_reset_alert_level();
        LCD_ALERTMESSAGEPGM("Zzzz Zzzz Zzzz");
      }
      if (beep) {
        for(int8_t i = 0; i < 3; i++) buzz(100, 1000);
        last_set = millis();
        beep = false;
        ++cnt;
      }
    } // while(!lcd_clicked)

    lcd_quick_feedback();     // click sound feedback
    lcd_reset_alert_level();  //reset LCD alert message

    if (sleep) {
      enable_all_steppers(); // Enable all stepper
      for(int8_t e = 0; e < HOTENDS; e++) {
        setTargetHotend(old_target_temperature[e], e);
        no_wait_for_cooling = true;
        wait_heater();
      }
      setTargetBed(old_target_temperature_bed);
      no_wait_for_cooling = true;
      wait_bed();
      sleep = false;
      beep = true;
      cnt = 0;
      goto PRESSBUTTON;
    }

    //return to normal
    if (code_seen('L')) destination[E_AXIS] -= code_value();
    #ifdef FILAMENTCHANGE_FINALRETRACT
      else destination[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
    #endif

    current_position[E_AXIS] = destination[E_AXIS]; //the long retract of L is compensated by manual filament feeding
    plan_set_e_position(current_position[E_AXIS]);

    RUNPLAN // should do nothing

    lcd_reset_alert_level();

    #ifdef DELTA
      // Move XYZ to starting position, then E
      calculate_delta(lastpos);
      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], fr60, active_extruder, active_driver);
      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder, active_driver);
    #else
      // Move XY to starting position, then Z, then E
      destination[X_AXIS] = lastpos[X_AXIS];
      destination[Y_AXIS] = lastpos[Y_AXIS];
      line_to_destination();
      destination[Z_AXIS] = lastpos[Z_AXIS];
      line_to_destination();
      destination[E_AXIS] = lastpos[E_AXIS];
      line_to_destination();
    #endif

    #if HAS_FILRUNOUT
      filrunoutEnqueued = false;
    #endif

    filament_changing = false;
  }
#endif //FILAMENTCHANGEENABLE

#ifdef DUAL_X_CARRIAGE
  /**
   * M605: Set dual x-carriage movement mode
   *
   *    M605 S0: Full control mode. The slicer has full control over x-carriage movement
   *    M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
   *    M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
   *                         millimeters x-offset and an optional differential hotend temperature of
   *                         mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
   *                         the first with a spacing of 100mm in the x direction and 2 degrees hotter.
   *
   *    Note: the X axis should be homed after changing dual x-carriage mode.
   */
  inline void gcode_M605() {
    st_synchronize();
    if (code_seen('S')) dual_x_carriage_mode = code_value();
    switch(dual_x_carriage_mode) {
      case DXC_DUPLICATION_MODE:
        if (code_seen('X')) duplicate_hotend_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
        if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
        ECHO_SM(DB, MSG_HOTEND_OFFSET);
        ECHO_MV(" ", hotend_offset[X_AXIS][0]);
        ECHO_MV(",", hotend_offset[Y_AXIS][0]);
        ECHO_MV(" ", duplicate_hotend_x_offset);
        ECHO_EMV(",", hotend_offset[Y_AXIS][1]);
        break;
      case DXC_FULL_CONTROL_MODE:
      case DXC_AUTO_PARK_MODE:
        break;
      default:
        dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
        break;
    }
    active_extruder_parked = false;
    extruder_duplication_enabled = false;
    delayed_move_time = 0;
  }
#endif // DUAL_X_CARRIAGE

#ifdef ENABLE_AUTO_BED_LEVELING
  //M666: Set Z probe offset
  inline void gcode_M666() {
    if (code_seen('P')) {
      zprobe_zoffset = code_value();
      ECHO_LM(DB, MSG_ZPROBE_ZOFFSET " " OK);
    }
    if (code_seen('L')) {
      ECHO_LMV(DB, "P (Z-Probe Offset):", zprobe_zoffset);
    }
  }
#endif

#ifdef DELTA
  //M666: Set delta endstop and geometry adjustment
  inline void gcode_M666() {
    if (code_seen('A')) {
      tower_adj[0] = code_value();
      set_delta_constants();
    }
    if (code_seen('B')) {
      tower_adj[1] = code_value();
      set_delta_constants();
    }
    if (code_seen('C')) {
      tower_adj[2] = code_value();
      set_delta_constants();
    }
    if (code_seen('I')) {
      tower_adj[3] = code_value();
      set_delta_constants();
    }
    if (code_seen('J')) {
      tower_adj[4] = code_value();
      set_delta_constants();
    }
    if (code_seen('K')) {
      tower_adj[5] = code_value();
      set_delta_constants();
    }
    if (code_seen('U')) {
      diagrod_adj[0] = code_value();
      set_delta_constants();
    }
    if (code_seen('V')) {
      diagrod_adj[1] = code_value();
      set_delta_constants();
    }
    if (code_seen('W')) {
      diagrod_adj[2] = code_value();
      set_delta_constants();
    }
    if (code_seen('R')) {
      delta_radius = code_value();
      set_delta_constants();
    }
    if (code_seen('D')) {
      delta_diagonal_rod = code_value();
      set_delta_constants();
    }
    if (code_seen('H')) {
      max_pos[Z_AXIS]= code_value();
      set_delta_constants();
    }
    if (code_seen('P')) {
      boolean axis_done = false;
      float p_val = code_value();
      for (int8_t i = 0; i < 3; i++) {
        if (code_seen(axis_codes[i])) {
          z_probe_offset[i] = code_value();
          axis_done = true;
        }
      }
      if (axis_done == false) z_probe_offset[Z_AXIS] = p_val;
    }
    else {
      for(int8_t i = 0; i < 3; i++) {
        if (code_seen(axis_codes[i])) endstop_adj[i] = code_value();
      }
    }
    if (code_seen('L')) {
      ECHO_LM(DB, "Current Delta geometry values:");
      ECHO_LMV(DB, "X (Endstop Adj): ", endstop_adj[0], 3);
      ECHO_LMV(DB, "Y (Endstop Adj): ", endstop_adj[1], 3);
      ECHO_LMV(DB, "Z (Endstop Adj): ", endstop_adj[2], 3);
      ECHO_SMV(DB, "P (Z-Probe Offset): X", z_probe_offset[0]);
      ECHO_MV(" Y", z_probe_offset[1]);
      ECHO_EMV(" Z", z_probe_offset[2]);
      ECHO_LMV(DB, "A (Tower A Position Correction): ", tower_adj[0], 3);
      ECHO_LMV(DB, "B (Tower B Position Correction): ", tower_adj[1], 3);
      ECHO_LMV(DB, "C (Tower C Position Correction): ", tower_adj[2], 3);
      ECHO_LMV(DB, "I (Tower A Radius Correction): ", tower_adj[3], 3);
      ECHO_LMV(DB, "J (Tower B Radius Correction): ", tower_adj[4], 3);
      ECHO_LMV(DB, "K (Tower C Radius Correction): ", tower_adj[5], 3);
      ECHO_LMV(DB, "U (Tower A Diagonal Rod Correction): ", diagrod_adj[0], 3);
      ECHO_LMV(DB, "V (Tower B Diagonal Rod Correction): ", diagrod_adj[1], 3);
      ECHO_LMV(DB, "W (Tower C Diagonal Rod Correction): ", diagrod_adj[2], 3);
      ECHO_LMV(DB, "R (Delta Radius): ", delta_radius);
      ECHO_LMV(DB, "D (Diagonal Rod Length): ", delta_diagonal_rod);
      ECHO_LMV(DB, "H (Z-Height): ", max_pos[Z_AXIS]);
    }
  }
#endif

/**
 * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
 */
inline void gcode_M907() {
  #if HAS_DIGIPOTSS
    for (int i=0;i<NUM_AXIS;i++)
      if (code_seen(axis_codes[i])) digipot_current(i, code_value());
    if (code_seen('B')) digipot_current(4, code_value());
    if (code_seen('S')) for (int i=0; i<=4; i++) digipot_current(i, code_value());
  #endif
  #ifdef MOTOR_CURRENT_PWM_XY_PIN
    if (code_seen('X')) digipot_current(0, code_value());
  #endif
  #ifdef MOTOR_CURRENT_PWM_Z_PIN
    if (code_seen('Z')) digipot_current(1, code_value());
  #endif
  #ifdef MOTOR_CURRENT_PWM_E_PIN
    if (code_seen('E')) digipot_current(2, code_value());
  #endif
  #ifdef DIGIPOT_I2C
    // this one uses actual amps in floating point
    for (int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
    // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
    for (int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
  #endif
}

#if HAS_DIGIPOTSS
  /**
   * M908: Control digital trimpot directly (M908 P<pin> S<current>)
   */
  inline void gcode_M908() {
    digitalPotWrite(
      code_seen('P') ? code_value() : 0,
      code_seen('S') ? code_value() : 0
    );
  }
#endif // HAS_DIGIPOTSS

#ifdef NPR2
  /**
   * M997: Cxx Move Carter xx gradi
   */
  inline void gcode_M997() {
    long csteps;
    if (code_seen('C')) {
      csteps = code_value() * color_step_moltiplicator;
      ECHO_LMV(DB, "csteps: ", csteps);
      if (csteps < 0) colorstep(-csteps,false);
      if (csteps > 0) colorstep(csteps,true);
    }
  }
#endif

/**
 * M999: Restart after being stopped
 */
inline void gcode_M999() {
  Running = true;
  lcd_reset_alert_level();
  //gcode_LastN = Stopped_gcode_LastN;
  FlushSerialRequestResend();
}

#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET

  inline void gcode_SET_Z_PROBE_OFFSET() {
    float value;
    if (code_seen('Z')) {
      value = code_value();
      if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
        zprobe_zoffset = value;
        ECHO_LM(DB, MSG_ZPROBE_ZOFFSET " " OK);
      }
      else {
        ECHO_SM(DB, MSG_ZPROBE_ZOFFSET);
        ECHO_MV(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
        ECHO_EMV(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
      }
    }
    else {
      ECHO_LMV(DB, MSG_ZPROBE_ZOFFSET " : ", zprobe_zoffset);
    }
  }

#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET

/**
 * T0-T3: Switch tool, usually switching extruders
 *
 *   F[mm/min] Set the movement feedrate
 */
inline void gcode_T(uint8_t tmp_extruder) {
  long csteps;
  if (tmp_extruder >= EXTRUDERS) {
    ECHO_SMV(DB, "T", tmp_extruder);
    ECHO_EM(" " MSG_INVALID_EXTRUDER);
  }
  else {
    target_extruder = tmp_extruder;

    #if EXTRUDERS > 1
      bool make_move = false;
    #endif

    if (code_seen('F')) {

      #if EXTRUDERS > 1
        make_move = true;
      #endif

      float next_feedrate = code_value();
      if (next_feedrate > 0.0) feedrate = next_feedrate;
    }
    #if EXTRUDERS > 1
      #ifdef NPR2
        if(target_extruder != old_color)
      #else
        if(target_extruder != active_extruder)
      #endif // NPR2
      {
        // Save current position to return to after applying extruder offset
        set_destination_to_current();
        #ifdef DUAL_X_CARRIAGE
          if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && IsRunning() &&
                (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder))) {
            // Park old head: 1) raise 2) move to park position 3) lower
            plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
                  current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder, active_driver);
            plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
                  current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder, active_driver);
            plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
                  current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder, active_driver);
            st_synchronize();
          }

          // apply Y & Z extruder offset (x offset is already used in determining home pos)
          current_position[Y_AXIS] = current_position[Y_AXIS] -
                        hotend_offset[Y_AXIS][active_extruder] +
                        hotend_offset[Y_AXIS][target_extruder];
          current_position[Z_AXIS] = current_position[Z_AXIS] -
                        hotend_offset[Z_AXIS][active_extruder] +
                        hotend_offset[Z_AXIS][target_extruder];

          active_extruder = target_extruder;

          // This function resets the max/min values - the current position may be overwritten below.
          axis_is_at_home(X_AXIS);

          if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
            current_position[X_AXIS] = inactive_extruder_x_pos;
            inactive_extruder_x_pos = destination[X_AXIS];
          }
          else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
            active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
            if (active_extruder == 0 || active_extruder_parked)
              current_position[X_AXIS] = inactive_extruder_x_pos;
            else
              current_position[X_AXIS] = destination[X_AXIS] + duplicate_hotend_x_offset;
            inactive_extruder_x_pos = destination[X_AXIS];
            extruder_duplication_enabled = false;
          }
          else {
            // record raised toolhead position for use by unpark
            memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
            raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
            active_extruder_parked = true;
            delayed_move_time = 0;
          }
        #else // !DUAL_X_CARRIAGE
          // Offset hotend (only by XY)
          #if HOTENDS > 1
            for (int i = X_AXIS; i <= Y_AXIS; i++)
              current_position[i] += hotend_offset[i][target_extruder] - hotend_offset[i][active_extruder];
          #endif // HOTENDS > 1

          #if defined(MKR4) && (EXTRUDERS > 1)
            #if (EXTRUDERS == 4) && (E0E2_CHOICE_PIN >1) && (E1E3_CHOICE_PIN > 1) && (DRIVER_EXTRUDERS == 2)
              st_synchronize(); // Finish all movement
              disable_e();
              switch(target_extruder)
              {
              case 0:
                WRITE(E0E2_CHOICE_PIN,LOW);
                WRITE(E1E3_CHOICE_PIN,LOW);
                active_driver = 0;
                delay(500); // 500 microseconds delay for relay
                enable_e0();
                break;
              case 1:
                WRITE(E0E2_CHOICE_PIN,LOW);
                WRITE(E1E3_CHOICE_PIN,LOW);
                active_driver = 1;
                delay(500); // 500 microseconds delay for relay
                enable_e1();
                break;
              case 2:
                WRITE(E0E2_CHOICE_PIN,HIGH);
                WRITE(E1E3_CHOICE_PIN,LOW);
                active_driver = 0;
                delay(500); // 500 microseconds delay for relay
                enable_e2();
                break;
              case 3:
                WRITE(E0E2_CHOICE_PIN,LOW);
                WRITE(E1E3_CHOICE_PIN,HIGH);
                active_driver = 1;
                delay(500); // 500 microseconds delay for relay
                enable_e3();
                break;
              }            
            #elif (EXTRUDERS == 3) && (E0E2_CHOICE_PIN >1) && (DRIVER_EXTRUDERS == 2)
              st_synchronize(); // Finish all movement
              disable_e();
              switch(target_extruder)
              {
              case 0:
                WRITE(E0E2_CHOICE_PIN,LOW);
                active_driver = 0;
                delay(500); // 500 microseconds delay for relay
                enable_e0();
                break;
              case 1:
                WRITE(E0E2_CHOICE_PIN,LOW);
                active_driver = 1;
                delay(500); // 500 microseconds delay for relay
                enable_e1();
                break;
              case 2:
                WRITE(E0E2_CHOICE_PIN,HIGH);
                active_driver = 0;
                delay(500); // 500 microseconds delay for relay
                enable_e2();
                break;
              }
            #elif (EXTRUDERS == 3) && (E0E1_CHOICE_PIN >1) && (E0E2_CHOICE_PIN >1) && (DRIVER_EXTRUDERS == 1)
              st_synchronize(); // Finish all movement
              disable_e();
              switch(target_extruder)
              {
              case 0:
                WRITE(E0E1_CHOICE_PIN,LOW);
                WRITE(E0E2_CHOICE_PIN,LOW);
                active_driver = 0;
                delay(500); // 500 microseconds delay for relay
                enable_e0();
                break;
              case 1:
                WRITE(E0E1_CHOICE_PIN,HIGH);
                WRITE(E0E2_CHOICE_PIN,LOW);
                active_driver = 0;
                delay(500); // 500 microseconds delay for relay
                enable_e0();
                break;
              case 2:
                WRITE(E0E1_CHOICE_PIN,HIGH);
                WRITE(E0E2_CHOICE_PIN,HIGH);
                active_driver = 0;
                delay(500); // 500 microseconds delay for relay
                enable_e0();
                break;
              }
            #elif (EXTRUDERS == 2) && (E0E1_CHOICE_PIN >1) && (DRIVER_EXTRUDERS == 1)
              st_synchronize(); // Finish all movement
              disable_e();
              switch(target_extruder)
              {
              case 0:
                WRITE(E0E1_CHOICE_PIN,LOW);
                active_driver = 0;
                delay(500); // 500 microseconds delay for relay
                enable_e0();
                break;
              case 1:
                WRITE(E0E1_CHOICE_PIN,HIGH);
                active_driver = 0;
                delay(500); // 500 microseconds delay for relay
                enable_e0();
                break;
              }
            #endif // E0E1_CHOICE_PIN E0E2_CHOICE_PIN E1E3_CHOICE_PIN
            active_extruder = target_extruder;
            ECHO_LMV(DB, MSG_ACTIVE_DRIVER, active_driver);
            ECHO_LMV(DB, MSG_ACTIVE_EXTRUDER, active_extruder);
          #elif defined(NPR2)
            st_synchronize(); // Finish all movement
            if (old_color == 99)
            {
              csteps = (color_position[target_extruder]) * color_step_moltiplicator;
            }
            else
            {
              csteps = (color_position[target_extruder] - color_position[old_color]) * color_step_moltiplicator;
            }
            if (csteps < 0) colorstep(-csteps,false);
            if (csteps > 0) colorstep(csteps,true);
            old_color = active_extruder = target_extruder;
            active_driver = 0;
            ECHO_LMV(DB, MSG_ACTIVE_COLOR, active_extruder);
          #else 
            active_driver = active_extruder = target_extruder;
            ECHO_LMV(DB, MSG_ACTIVE_EXTRUDER, active_extruder);

          #endif // end MKR4 || NPR2
        #endif // end no DUAL_X_CARRIAGE

        #if defined(DELTA) || defined(SCARA)
          sync_plan_position_delta();
        #else // NO DELTA
          sync_plan_position();
        #endif // !DELTA
        // Move to the old position if 'F' was in the parameters
        if (make_move && IsRunning()) prepare_move();
      }

      #ifdef EXT_SOLENOID
        st_synchronize();
        disable_all_solenoids();
        enable_solenoid_on_active_extruder();
      #endif // EXT_SOLENOID

    #endif // EXTRUDERS > 1
  }
}

/**
 * Process a single command and dispatch it to its handler
 * This is called from the main loop()
 */
void process_next_command() {
  current_command = command_queue[cmd_queue_index_r];

  if ((debugLevel & DEBUG_ECHO)) {
    ECHO_LV(DB, current_command);
  }

  // Sanitize the current command:
  //  - Skip leading spaces
  //  - Bypass N[0-9][0-9]*[ ]*
  //  - Overwrite * with nul to mark the end
  while (*current_command == ' ') ++current_command;
  if ((*current_command == 'N' || *current_command == 'n') && current_command[1] >= '0' && current_command[1] <= '9') {
    current_command += 2; // skip N[0-9]
    while (*current_command >= '0' && *current_command <= '9') ++current_command; // skip [0-9]*
    while (*current_command == ' ') ++current_command;
  }
  char *starpos = strchr(current_command, '*');  // * should always be the last parameter
  if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '

  // Get the command code, which must be G, M, or T
  char command_code = *current_command;

  // The code must have a numeric value
  bool code_is_good = (current_command[1] >= '0' && current_command[1] <= '9');

  int codenum; // define ahead of goto

  // Bail early if there's no code
  if (!code_is_good) goto ExitUnknownCommand;

  // Args pointer optimizes code_seen, especially those taking XYZEF
  // This wastes a little cpu on commands that expect no arguments.
  current_command_args = current_command;
  while (*current_command_args && *current_command_args != ' ') ++current_command_args;
  while (*current_command_args == ' ') ++current_command_args;

  // Interpret the code int
  seen_pointer = current_command;
  codenum = code_value_short();

  // Handle a known G, M, or T
  switch(command_code) {
    case 'G': case 'g': switch (codenum) {

      // G0 -> G1
      case 0:
      case 1:
        gcode_G0_G1(); break;

      // G2, G3
      #ifndef SCARA
        case 2: // G2  - CW ARC
        case 3: // G3  - CCW ARC
          gcode_G2_G3(codenum == 2); break;
      #endif

      // G4 Dwell
      case 4:
        gcode_G4(); break;

      #ifdef FWRETRACT
        case 10: // G10: retract
        case 11: // G11: retract_recover
          gcode_G10_G11(codenum == 10); break;
      #endif //FWRETRACT

      case 28: //G28: Home all axes, one at a time
        gcode_G28(); gcode_M114(); break;

      #ifdef ENABLE_AUTO_BED_LEVELING
        case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
          gcode_G29(); gcode_M114(); break;
        #ifndef Z_PROBE_SLED
          case 30: // G30 Single Z Probe
            gcode_G30(); break;
        #else // Z_PROBE_SLED
          case 31: // G31: dock the sled
          case 32: // G32: undock the sled
            dock_sled(codenum == 31); break;
        #endif // Z_PROBE_SLED
      #endif // ENABLE_AUTO_BED_LEVELING

      #if defined(DELTA) && defined(Z_PROBE_ENDSTOP)
        case 29: // G29 Detailed Z-Probe, probes the bed at more points.
          gcode_G29(); gcode_M114(); break;
        case 30:  // G30 Delta AutoCalibration
          gcode_G30(); break;
      #endif // DELTA && Z_PROBE_ENDSTOP

      case 60: // G60 Saved Coordinates
        gcode_G60(); break;
      case 61: // G61 Restore Coordinates
        gcode_G61(); break;
      case 90: // G90
        relative_mode = false; break;
      case 91: // G91
        relative_mode = true; break;
      case 92: // G92
        gcode_G92(); break;
    }
    break;

    case 'M': case 'm': switch (codenum) {

      #ifdef ULTIPANEL
        case 0: // M0 - Unconditional stop - Wait for user button press on LCD
        case 1: // M1 - Conditional stop - Wait for user button press on LCD
          gcode_M0_M1(); break;
      #endif //ULTIPANEL

      #ifdef LASERBEAM
        case 3: // M03 S - Setting laser beam
          gcode_M3(); break;
        case 4: // M04 - Turn on laser beam
          gcode_M4(); break;
        case 5: // M05 - Turn off laser beam
          gcode_M5(); break;
      #endif //LASERBEAM

      #if HAS_FILRUNOUT
        case 11: //M11 - Start printing
          gcode_M11(); break;
      #endif

      case 17: //M17 - Enable/Power all stepper motors
        gcode_M17(); break;

      #if ENABLED(SDSUPPORT)
        case 20: // M20 - list SD card
          gcode_M20(); break;
        case 21: // M21 - init SD card
          gcode_M21(); break;
        case 22: // M22 - release SD card
          gcode_M22(); break;
        case 23: // M23 - Select file
          gcode_M23(); break;
        case 24: // M24 - Start SD print
          gcode_M24(); break;
        case 25: // M25 - Pause SD print
          gcode_M25(); break;
        case 26: // M26 - Set SD index
          gcode_M26(); break;
        case 27: // M27 - Get SD status
          gcode_M27(); break;
        case 28: // M28 - Start SD write
          gcode_M28(); break;
        case 29: // M29 - Stop SD write
          gcode_M29(); break;
        case 30: // M30 <filename> Delete File
          gcode_M30(); break;
        case 32: // M32 - Select file and start SD print
          gcode_M32(); break;

        #ifdef LONG_FILENAME_HOST_SUPPORT
          case 33: // M33 - Get the long full path to a file or folder
            gcode_M33(); break;
        #endif

        case 928: // M928 - Start SD write
          gcode_M928(); break;
      #endif //SDSUPPORT

      case 31: // M31 take time since the start of the SD print or an M109 command
        gcode_M31(); break;
      case 42: // M42 -Change pin status via gcode
        gcode_M42(); break;

      #if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
        case 48: // M48 Z-Probe repeatability
          gcode_M48(); break;
      #endif

      #if HAS_POWER_SWITCH
        case 80: // M80 - Turn on Power Supply
          gcode_M80(); break;
      #endif

      case 81: // M81 - Turn off Power, including Power Supply, if possible
        gcode_M81(); break;
      case 82:
        gcode_M82(); break;
      case 83:
        gcode_M83(); break;
      case 18: //compatibility
      case 84: // M84
        gcode_M18_M84(); break;
      case 85: // M85
        gcode_M85(); break;
      case 92: // M92 Set the steps-per-unit for one or more axes
        gcode_M92(); break;
      case 104: // M104
        gcode_M104(); break;
      case 105: // M105 Read current temperature
        gcode_M105(); return; break; // "ok" already printed

      #if HAS_FAN
        case 106: //M106 Fan On
          gcode_M106(); break;
        case 107: //M107 Fan Off
          gcode_M107(); break;
      #endif // HAS_FAN

      case 109: // M109 Wait for temperature
        gcode_M109(); break;

      #ifdef M100_FREE_MEMORY_WATCHER
        case 100:
          gcode_M100(); break;
      #endif

      case 110: break; // M110: Set line number - don't show "unknown command"
      case 111: // M111 Set debug level
        gcode_M111(); break;
      case 112: //  M112 Emergency Stop
        gcode_M112(); break;
      case 114: // M114 Report current position
        gcode_M114(); break;
      case 115: // M115 Report capabilities
        gcode_M115(); break;

      #if defined(ULTIPANEL) || defined (NEXTION)
        case 117: // M117 display message
          gcode_M117(); break;
      #endif

      case 119: // M119 Report endstop states
        gcode_M119(); break;
      case 120: // M120 Enable endstops
        gcode_M120(); break;
      case 121: // M121 Disable endstops
        gcode_M121(); break;

      #ifdef BARICUDA
        // PWM for HEATER_1_PIN
        #if HAS_HEATER_1
          case 126: // M126 valve open
            gcode_M126(); break;
          case 127: // M127 valve closed
            gcode_M127(); break;
        #endif // HAS_HEATER_1

        // PWM for HEATER_2_PIN
        #if HAS_HEATER_2
          case 128: // M128 valve open
            gcode_M128(); break;
          case 129: // M129 valve closed
            gcode_M129(); break;
        #endif // HAS_HEATER_2
      #endif // BARICUDA

      case 140: // M140 Set bed temp
        gcode_M140(); break;

      #ifdef BLINKM
        case 150: // M150
          gcode_M150(); break;
      #endif //BLINKM

      #if HAS_TEMP_BED
        case 190: // M190 - Wait for bed heater to reach target.
          gcode_M190(); break;
      #endif //TEMP_BED_PIN

      case 200: // M200 D<millimetres> set filament diameter and set E axis units to cubic millimetres (use S0 to set back to millimeters).
        gcode_M200(); break;
      case 201: // M201
        gcode_M201(); break;
      #if 0 // Not used for Sprinter/grbl gen6
      case 202: // M202
        gcode_M202();
        break;
      #endif
      case 203: // M203 max feedrate mm/sec
        gcode_M203(); break;
      case 204: // M204 acceleration S normal moves T filament only moves
        gcode_M204(); break;
      case 205: //M205 advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
        gcode_M205(); break;
      case 206: // M206 additional homing offset
        gcode_M206(); break;

      #ifdef FWRETRACT
        case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
          gcode_M207(); break;
        case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
          gcode_M208(); break;
        case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
          gcode_M209(); break;
      #endif // FWRETRACT

      #if HOTENDS > 1
        case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
          gcode_M218(); break;
      #endif

      case 220: // M220 S<factor in percent>- set speed factor override percentage
        gcode_M220(); break;
      case 221: // M221 S<factor in percent>- set extrude factor override percentage
        gcode_M221(); break;
      case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
        gcode_M226(); break;

      #if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
        case 240: // M240  Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
          gcode_M240(); break;
      #endif // CHDK || PHOTOGRAPH_PIN

      #if defined(DOGLCD) && LCD_CONTRAST >= 0
        case 250: // M250  Set LCD contrast value: C<value> (value 0..63)
          gcode_M250(); break;
      #endif // DOGLCD

      #if NUM_SERVOS > 0
        case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
          gcode_M280(); break;
      #endif // NUM_SERVOS > 0

      #if HAS_BUZZER
        case 300: // M300 - Play beep tone
          gcode_M300(); break;
      #endif // HAS_BUZZER

      #ifdef PIDTEMP
        case 301: // M301
          gcode_M301(); break;
      #endif // PIDTEMP

      #ifdef PREVENT_DANGEROUS_EXTRUDE
        case 302: // allow cold extrudes, or set the minimum extrude temperature
          gcode_M302(); break;
      #endif // PREVENT_DANGEROUS_EXTRUDE

      #if defined(PIDTEMP) || defined(PIDTEMPBED)
        case 303: // M303 PID autotune
          gcode_M303(); break;
      #endif

      #ifdef PIDTEMPBED
        case 304: // M304
          gcode_M304(); break;
      #endif // PIDTEMPBED

      #if HAS_MICROSTEPS
        case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
          gcode_M350(); break;
        case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
          gcode_M351(); break;
      #endif // HAS_MICROSTEPS

      #ifdef SCARA
        case 360:  // M360 SCARA Theta pos1
          if (gcode_M360()) return; break;
        case 361:  // M361 SCARA Theta pos2
          if (gcode_M361()) return; break;
        case 362:  // M362 SCARA Psi pos1
          if (gcode_M362()) return; break;
        case 363:  // M363 SCARA Psi pos2
          if (gcode_M363()) return; break;
        case 364:  // M364 SCARA Psi pos3 (90 deg to Theta)
          if (gcode_M364()) return; break;
        case 365: // M365 Set SCARA scaling for X Y Z
          gcode_M365(); break;
      #endif // SCARA

      case 400: // M400 finish all moves
        gcode_M400(); break;

      #if SERVO_LEVELING
        case 401:
          gcode_M401(); break;
        case 402:
          gcode_M402(); break;
      #endif

      #ifdef FILAMENT_SENSOR
        case 404:  //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
          gcode_M404(); break;
        case 405:  //M405 Turn on filament sensor for control
          gcode_M405(); break;
        case 406:  //M406 Turn off filament sensor for control
          gcode_M406(); break;
        case 407:   //M407 Display measured filament diameter
          gcode_M407(); break;
      #endif // FILAMENT_SENSOR

      case 410: // M410 quickstop - Abort all the planned moves.
        gcode_M410(); break;

      case 428: // M428 Apply current_position to home_offset
        gcode_M428(); break;

      case 500: // M500 Store settings in EEPROM
        gcode_M500(); break;
      case 501: // M501 Read settings from EEPROM
        gcode_M501(); break;
      case 502: // M502 Revert to default settings
        gcode_M502(); break;
      case 503: // M503 print settings currently in memory
        gcode_M503(); break;

      #ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
        case 540:
          gcode_M540(); break;
      #endif

      #ifdef FILAMENTCHANGEENABLE
        case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
          gcode_M600(); break;
      #endif

      #ifdef DUAL_X_CARRIAGE
        case 605:
          gcode_M605(); break;
      #endif

      #if defined(ENABLE_AUTO_BED_LEVELING) || defined(DELTA)
        case 666: // M666 Set Z probe offset or set delta endstop and geometry adjustment
          gcode_M666(); break;
      #endif

      case 907: // M907 Set digital trimpot motor current using axis codes.
        gcode_M907(); break;

      #if HAS_DIGIPOTSS
        case 908: // M908 Control digital trimpot directly.
          gcode_M908(); break;
      #endif // HAS_DIGIPOTSS

      #ifdef NPR2
        case 997: // M997 Cxx Move Carter xx gradi
          gcode_M997(); break;
      #endif // NPR2

       case 999: // M999: Restart after being Stopped
        gcode_M999(); break;

        #ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
        case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
          gcode_SET_Z_PROBE_OFFSET(); break;
      #endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
    }
    break;

    case 'T': case 't':
      gcode_T(codenum);
    break;

    default: code_is_good = false;
  }

ExitUnknownCommand:

  // Still unknown command? Throw an error
  if (!code_is_good) unknown_command_error();

  ok_to_send();
}

void FlushSerialRequestResend() {
  //char command_queue[cmd_queue_index_r][100]="Resend:";
  MYSERIAL.flush();
  ECHO_LV(RS, gcode_LastN + 1);
  ok_to_send();
}

void ok_to_send() {
  refresh_cmd_timeout();
  #if ENABLED(SDSUPPORT)
    if (fromsd[cmd_queue_index_r]) return;
  #endif
  ECHO_S(OK);
  #ifdef ADVANCED_OK
    ECHO_MV("N", gcode_LastN);
    ECHO_MV(" P", (int(BLOCK_BUFFER_SIZE - movesplanned() - 1)));
    ECHO_MV(" B", BUFSIZE - commands_in_queue);
  #endif
  ECHO_E;
}

void clamp_to_software_endstops(float target[3]) {
  if (min_software_endstops) {
    NOLESS(target[X_AXIS], min_pos[X_AXIS]);
    NOLESS(target[Y_AXIS], min_pos[Y_AXIS]);
    
    float negative_z_offset = 0;
    #ifdef ENABLE_AUTO_BED_LEVELING
      if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
      if (home_offset[Z_AXIS] < 0) negative_z_offset += home_offset[Z_AXIS];
    #endif
    NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset);
  }

  if (max_software_endstops) {
    NOMORE(target[X_AXIS], max_pos[X_AXIS]);
    NOMORE(target[Y_AXIS], max_pos[Y_AXIS]);
    NOMORE(target[Z_AXIS], max_pos[Z_AXIS]);
  }
}

#ifdef PREVENT_DANGEROUS_EXTRUDE

  FORCE_INLINE void prevent_dangerous_extrude(float &curr_e, float &dest_e) {
    float de = dest_e - curr_e;
    if (debugLevel & DEBUG_DRYRUN) return;
    if (de) {
      if (degHotend(active_extruder) < extrude_min_temp) {
        curr_e = dest_e; // Behave as if the move really took place, but ignore E part
        ECHO_LM(ER, MSG_ERR_COLD_EXTRUDE_STOP);
      }
      #ifdef PREVENT_LENGTHY_EXTRUDE
        if (labs(de) > EXTRUDE_MAXLENGTH) {
          curr_e = dest_e; // Behave as if the move really took place, but ignore E part
          ECHO_LM(ER, MSG_ERR_LONG_EXTRUDE_STOP);
        }
      #endif
    }
  }

#endif // PREVENT_DANGEROUS_EXTRUDE

#if defined(DELTA) || defined(SCARA)

  inline bool prepare_move_delta(float target[NUM_AXIS]) {

    float difference[NUM_AXIS];
    float addDistance[NUM_AXIS];
    float fractions[NUM_AXIS];
    float frfm = feedrate/60*feedrate_multiplier/100.0;
    
    for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];

    float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
    if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
    if (cartesian_mm < 0.000001) return false;

    #if defined(DELTA_SEGMENTS_PER_SECOND) || defined(SCARA_SEGMENTS_PER_SECOND)
      float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
      int steps = max(1, int(delta_segments_per_second * seconds));
    #else
      float fTemp = cartesian_mm * 5;
      int steps = (int)fTemp;

      if (steps == 0) {
        steps = 1;
        for (int8_t i=0; i < NUM_AXIS; i++) fractions[i] = difference[i];
      }
      else {
        fTemp = 1 / float(steps);
        for (int8_t i=0; i < NUM_AXIS; i++) fractions[i] = difference[i] * fTemp;
      }

      // For number of steps, for each step add one fraction
      // First, set initial target to current position
      for (int8_t i=0; i < NUM_AXIS; i++) addDistance[i] = 0.0;
    #endif

    for (int s = 1; s <= steps; s++) {

      #if defined(DELTA_SEGMENTS_PER_SECOND) || defined(SCARA_SEGMENTS_PER_SECOND)
        float fraction = float(s) / float(steps);
        for (int8_t i = 0; i < NUM_AXIS; i++)
          target[i] = current_position[i] + difference[i] * fraction;
      #else
        for (int8_t i = 0; i < NUM_AXIS; i++) {
          addDistance[i] += fractions[i];
          target[i] = current_position[i] + addDistance[i];
        }
      #endif

      calculate_delta(target);

      adjust_delta(target);

      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], frfm, active_extruder, active_driver);
    }
    return true;
  }

#endif // DELTA || SCARA

#ifdef SCARA
  inline bool prepare_move_scara(float target[NUM_AXIS]) { return prepare_move_delta(target); }
#endif

#ifdef DUAL_X_CARRIAGE

  inline bool prepare_move_dual_x_carriage() {
    if (active_extruder_parked) {
      if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
        // move duplicate extruder into correct duplication position.
        plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
        plan_buffer_line(current_position[X_AXIS] + duplicate_hotend_x_offset, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[X_AXIS], 1, active_driver);
        sync_plan_position();
        st_synchronize();
        extruder_duplication_enabled = true;
        active_extruder_parked = false;
      }
      else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head
        if (current_position[E_AXIS] == destination[E_AXIS]) {
          // This is a travel move (with no extrusion)
          // Skip it, but keep track of the current position
          // (so it can be used as the start of the next non-travel move)
          if (delayed_move_time != 0xFFFFFFFFUL) {
            set_current_to_destination();
            NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
            delayed_move_time = millis();
            return false;
          }
        }
        delayed_move_time = 0;
        // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
        plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder, active_driver);
        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], min(max_feedrate[X_AXIS], max_feedrate[Y_AXIS]), active_extruder, active_driver);
        plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder, active_driver);
        active_extruder_parked = false;
      }
    }
    return true;
  }

#endif // DUAL_X_CARRIAGE

#if defined(CARTESIAN) || defined(COREXY) || defined(COREXZ)

  inline bool prepare_move_cartesian() {
    // Do not use feedrate_multiplier for E or Z only moves
    if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
      line_to_destination();
    }
    else {
      line_to_destination(feedrate * feedrate_multiplier / 100.0);
    }
    return true;
  }

#endif // CARTESIAN || COREXY || COREXZ

/**
 * Prepare a single move and get ready for the next one
 *
 * (This may call plan_buffer_line several times to put
 *  smaller moves into the planner for DELTA or SCARA.)
 */
void prepare_move() {
  clamp_to_software_endstops(destination);
  refresh_cmd_timeout();

  #ifdef PREVENT_DANGEROUS_EXTRUDE
    prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
  #endif

  #ifdef SCARA
    if (!prepare_move_scara(destination)) return;
  #elif defined(DELTA)
    if (!prepare_move_delta(destination)) return;
  #endif

  #ifdef DUAL_X_CARRIAGE
    if (!prepare_move_dual_x_carriage()) return;
  #endif

  #if defined(CARTESIAN) || defined(COREXY) || defined(COREXZ)
    if (!prepare_move_cartesian()) return;
  #endif
  
  set_current_to_destination();
}

/**
 * Plan an arc in 2 dimensions
 *
 * The arc is approximated by generating many small linear segments.
 * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
 * Arcs should only be made relatively large (over 5mm), as larger arcs with
 * larger segments will tend to be more efficient. Your slicer should have
 * options for G2/G3 arc generation. In future these options may be GCode tunable.
 */
void plan_arc(
  float target[NUM_AXIS], // Destination position
  float *offset,          // Center of rotation relative to current_position
  uint8_t clockwise       // Clockwise?
) {

  float radius = hypot(offset[X_AXIS], offset[Y_AXIS]),
        center_axis0 = current_position[X_AXIS] + offset[X_AXIS],
        center_axis1 = current_position[Y_AXIS] + offset[Y_AXIS],
        linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
        extruder_travel = target[E_AXIS] - current_position[E_AXIS],
        r_axis0 = -offset[X_AXIS],  // Radius vector from center to current location
        r_axis1 = -offset[Y_AXIS],
        rt_axis0 = target[X_AXIS] - center_axis0,
        rt_axis1 = target[Y_AXIS] - center_axis1;
  
  // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
  if (angular_travel < 0) { angular_travel += RADIANS(360); }
  if (clockwise) { angular_travel -= RADIANS(360); }
  
  // Make a circle if the angular rotation is 0
  if (current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS] && angular_travel == 0)
    angular_travel += RADIANS(360);
  
  float mm_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
  if (mm_of_travel < 0.001) { return; }
  uint16_t segments = floor(mm_of_travel / MM_PER_ARC_SEGMENT);
  if (segments == 0) segments = 1;
  
  float theta_per_segment = angular_travel/segments;
  float linear_per_segment = linear_travel/segments;
  float extruder_per_segment = extruder_travel/segments;
  
  /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
     and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
         r_T = [cos(phi) -sin(phi);
                sin(phi)  cos(phi] * r ;
     
     For arc generation, the center of the circle is the axis of rotation and the radius vector is 
     defined from the circle center to the initial position. Each line segment is formed by successive
     vector rotations. This requires only two cos() and sin() computations to form the rotation
     matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
     all double numbers are single precision on the Arduino. (True double precision will not have
     round off issues for CNC applications.) Single precision error can accumulate to be greater than
     tool precision in some cases. Therefore, arc path correction is implemented. 

     Small angle approximation may be used to reduce computation overhead further. This approximation
     holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
     theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
     to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for 
     numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
     issue for CNC machines with the single precision Arduino calculations.
     
     This approximation also allows plan_arc to immediately insert a line segment into the planner 
     without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
     a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead. 
     This is important when there are successive arc motions. 
  */
  // Vector rotation matrix values
  float cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
  float sin_T = theta_per_segment;
  
  float arc_target[NUM_AXIS];
  float sin_Ti;
  float cos_Ti;
  float r_axisi;
  uint16_t i;
  int8_t count = 0;

  // Initialize the linear axis
  arc_target[Z_AXIS] = current_position[Z_AXIS];
  
  // Initialize the extruder axis
  arc_target[E_AXIS] = current_position[E_AXIS];

  float feed_rate = feedrate*feedrate_multiplier/60/100.0;

  for (i = 1; i < segments; i++) { // Increment (segments-1)

    if (count < N_ARC_CORRECTION) {
      // Apply vector rotation matrix to previous r_axis0 / 1
      r_axisi = r_axis0*sin_T + r_axis1*cos_T;
      r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
      r_axis1 = r_axisi;
      count++;
    }
    else {
      // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
      // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
      cos_Ti = cos(i*theta_per_segment);
      sin_Ti = sin(i*theta_per_segment);
      r_axis0 = -offset[X_AXIS]*cos_Ti + offset[Y_AXIS]*sin_Ti;
      r_axis1 = -offset[X_AXIS]*sin_Ti - offset[Y_AXIS]*cos_Ti;
      count = 0;
    }

    // Update arc_target location
    arc_target[X_AXIS] = center_axis0 + r_axis0;
    arc_target[Y_AXIS] = center_axis1 + r_axis1;
    arc_target[Z_AXIS] += linear_per_segment;
    arc_target[E_AXIS] += extruder_per_segment;

    clamp_to_software_endstops(arc_target);
    #if defined(DELTA) || defined(SCARA)
      calculate_delta(arc_target);
      adjust_delta(arc_target);
      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder, active_driver);
    #else
      plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder, active_driver);
    #endif
  }

  // Ensure last segment arrives at target location.
  #if defined(DELTA) || defined(SCARA)
    calculate_delta(target);
    adjust_delta(arc_target);
    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder, active_driver);
  #else
    plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder, active_driver);
  #endif

  // As far as the parser is concerned, the position is now == target. In reality the
  // motion control system might still be processing the action and the real tool position
  // in any intermediate location.
  set_current_to_destination();
}

#if HAS_CONTROLLERFAN

  void controllerFan() {
    static millis_t lastMotor = 0;      // Last time a motor was turned on
    static millis_t lastMotorCheck = 0; // Last time the state was checked
    millis_t ms = millis();
    if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms
      lastMotorCheck = ms;
      if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
        || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
        #if EXTRUDERS > 1
          || E1_ENABLE_READ == E_ENABLE_ON
          #if HAS_X2_ENABLE
            || X2_ENABLE_READ == X_ENABLE_ON
          #endif
          #if EXTRUDERS > 2
            || E2_ENABLE_READ == E_ENABLE_ON
            #if EXTRUDERS > 3
              || E3_ENABLE_READ == E_ENABLE_ON
            #endif
          #endif
        #endif
      ) {
        lastMotor = ms; //... set time to NOW so the fan will turn on
      }
      
  #ifdef INVERTED_HEATER_PINS
      uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 255 : (255 - CONTROLLERFAN_SPEED);
  #else
      uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  #endif

      // allows digital or PWM fan output to be used (see M42 handling)
      digitalWrite(CONTROLLERFAN_PIN, speed);
      analogWrite(CONTROLLERFAN_PIN, speed);
    }
  }

#endif // HAS_CONTROLLERFAN

#ifdef SCARA

  void calculate_SCARA_forward_Transform(float f_scara[3]) {
    // Perform forward kinematics, and place results in delta[3]
    // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014

    float x_sin, x_cos, y_sin, y_cos;

      //ECHO_SMV(DB, "f_delta x=", f_scara[X_AXIS]);
      //ECHO_MV(" y=", f_scara[Y_AXIS]);

      x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
      x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
      y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
      y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;

      //ECHO_MV(" x_sin=", x_sin);
      //ECHO_MV(" x_cos=", x_cos);
      //ECHO_MV(" y_sin=", y_sin);
      //ECHO_MV(" y_cos=", y_cos);

      delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x;  //theta
      delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y;  //theta+phi

      //ECHO_MV(" delta[X_AXIS]=", delta[X_AXIS]);
      //ECHO_EMV(" delta[Y_AXIS]=", delta[Y_AXIS]);
  }

  void calculate_delta(float cartesian[3]) {
    //reverse kinematics.
    // Perform reversed kinematics, and place results in delta[3]
    // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014

    float SCARA_pos[2];
    static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; 

    SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x;  //Translate SCARA to standard X Y
    SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y;  // With scaling factor.

    #if (Linkage_1 == Linkage_2)
      SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1;
    #else
      SCARA_C2 =   ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000; 
    #endif

    SCARA_S2 = sqrt( 1 - sq(SCARA_C2) );

    SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
    SCARA_K2 = Linkage_2 * SCARA_S2;

    SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1;
    SCARA_psi   =   atan2(SCARA_S2,SCARA_C2);

    delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG;  // Multiply by 180/Pi  -  theta is support arm angle
    delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG;  //       -  equal to sub arm angle (inverted motor)
    delta[Z_AXIS] = cartesian[Z_AXIS];

    /*
    ECHO_SMV(DB, "cartesian x=", cartesian[X_AXIS]);
    ECHO_MV(" y=", cartesian[Y_AXIS]);
    ECHO_MV(" z=", cartesian[Z_AXIS]);

    ECHO_MV("scara x=", SCARA_pos[X_AXIS]);
    ECHO_MV(" y=", Y_AXIS]);

    ECHO_MV("delta x=", delta[X_AXIS]);
    ECHO_MV(" y=", delta[Y_AXIS]);
    ECHO_MV(" z=", delta[Z_AXIS]);

    ECHO_MV("C2=", SCARA_C2);
    ECHO_MV(" S2=", SCARA_S2);
    ECHO_MV(" Theta=", SCARA_theta);
    ECHO_EMV(" Psi=", SCARA_psi);
    */
  }

#endif // SCARA

#ifdef TEMP_STAT_LEDS

  static bool red_led = false;
  static millis_t next_status_led_update_ms = 0;

  void handle_status_leds(void) {
    float max_temp = 0.0;
    if (millis() > next_status_led_update_ms) {
      next_status_led_update_ms += 500; // Update every 0.5s
      for (int8_t cur_hotend = 0; cur_hotend < HOTENDS; ++cur_hotend)
         max_temp = max(max(max_temp, degHotend(cur_hotend)), degTargetHotend(cur_hotend));
      #if HAS_TEMP_BED
        max_temp = max(max(max_temp, degTargetBed()), degBed());
      #endif
      bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
      if (new_led != red_led) {
        red_led = new_led;
        digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
        digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
      }
    }
  }

#endif

void enable_all_steppers() {
  enable_x();
  enable_y();
  enable_z();
  enable_e0();
  enable_e1();
  enable_e2();
  enable_e3();
}

void disable_all_steppers() {
  disable_x();
  disable_y();
  disable_z();
  disable_e0();
  disable_e1();
  disable_e2();
  disable_e3();
}

/**
 * Standard idle routine keeps the machine alive
 */
void idle(bool ignore_stepper_queue/*=false*/) {
  manage_heater();
  manage_inactivity(ignore_stepper_queue);
  lcd_update();
}

/**
 * Manage several activities:
 *  - Check for Filament Runout
 *  - Keep the command buffer full
 *  - Check for maximum inactive time between commands
 *  - Check for maximum inactive time between stepper commands
 *  - Check if pin CHDK needs to go LOW
 *  - Check for KILL button held down
 *  - Check for HOME button held down
 *  - Check if cooling fan needs to be switched on
 *  - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
 *  - check oozing prevent
 */
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {

  #if HAS_FILRUNOUT
    if ((printing || IS_SD_PRINTING ) && (READ(FILRUNOUT_PIN) ^ FILRUNOUT_PIN_INVERTING))
      filrunout();
  #endif

  if (commands_in_queue < BUFSIZE - 1) get_command();

  millis_t ms = millis();

  if (max_inactive_time && ms > previous_cmd_ms + max_inactive_time) kill(PSTR(MSG_KILLED));

  if (stepper_inactive_time && ms > previous_cmd_ms + stepper_inactive_time && !ignore_stepper_queue && !blocks_queued()) {
    #if DISABLE_X == true
      disable_x();
    #endif
    #if DISABLE_Y == true
      disable_y();
    #endif
    #if DISABLE_Z == true
      disable_z();
    #endif
    #if DISABLE_E == true
      disable_e();
    #endif
  }

  #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
    if (chdkActive && ms > chdkHigh + CHDK_DELAY) {
      chdkActive = false;
      WRITE(CHDK, LOW);
    }
  #endif

  #if HAS_KILL
    
    // Check if the kill button was pressed and wait just in case it was an accidental
    // key kill key press
    // -------------------------------------------------------------------------------
    static int killCount = 0;   // make the inactivity button a bit less responsive
    const int KILL_DELAY = 750;
    if (!READ(KILL_PIN))
       killCount++;
    else if (killCount > 0)
       killCount--;

    // Exceeded threshold and we can confirm that it was not accidental
    // KILL the machine
    // ----------------------------------------------------------------
    if (killCount >= KILL_DELAY) kill(PSTR(MSG_KILLED));
  #endif

  #if HAS_HOME
    // Check to see if we have to home, use poor man's debouncer
    // ---------------------------------------------------------
    static int homeDebounceCount = 0;   // poor man's debouncing count
    const int HOME_DEBOUNCE_DELAY = 750;
    if (!READ(HOME_PIN)) {
      if (!homeDebounceCount) {
        enqueuecommands_P(PSTR("G28"));
        LCD_MESSAGEPGM(MSG_AUTO_HOME);
      }
      if (homeDebounceCount < HOME_DEBOUNCE_DELAY)
        homeDebounceCount++;
      else
        homeDebounceCount = 0;
    }
  #endif
    
  #if HAS_CONTROLLERFAN
    controllerFan(); // Check if fan should be turned on to cool stepper drivers down
  #endif

  #ifdef EXTRUDER_RUNOUT_PREVENT
    if (ms > previous_cmd_ms + EXTRUDER_RUNOUT_SECONDS * 1000)
    if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
      bool oldstatus;
      switch(active_extruder) {
        case 0:
          oldstatus = E0_ENABLE_READ;
          enable_e0();
          break;
        #if EXTRUDERS > 1
          case 1:
            oldstatus = E1_ENABLE_READ;
            enable_e1();
            break;
          #if EXTRUDERS > 2
            case 2:
              oldstatus = E2_ENABLE_READ;
              enable_e2();
              break;
            #if EXTRUDERS > 3
              case 3:
                oldstatus = E3_ENABLE_READ;
                enable_e3();
                break;
            #endif
          #endif
        #endif
      }
      float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
      plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
                      destination[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit[E_AXIS],
                      EXTRUDER_RUNOUT_SPEED / 60. * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit[E_AXIS], active_extruder, active_driver);
      current_position[E_AXIS] = oldepos;
      destination[E_AXIS] = oldedes;
      plan_set_e_position(oldepos);
      previous_cmd_ms = ms; // refresh_cmd_timeout()
      st_synchronize();
      switch(active_extruder) {
        case 0:
          E0_ENABLE_WRITE(oldstatus);
          break;
        #if EXTRUDERS > 1
          case 1:
            E1_ENABLE_WRITE(oldstatus);
            break;
          #if EXTRUDERS > 2
            case 2:
              E2_ENABLE_WRITE(oldstatus);
              break;
            #if EXTRUDERS > 3
              case 3:
                E3_ENABLE_WRITE(oldstatus);
                break;
            #endif
          #endif
        #endif
      }
    }
  #endif

  #ifdef DUAL_X_CARRIAGE
    // handle delayed move timeout
    if (delayed_move_time && ms > delayed_move_time + 1000 && IsRunning()) {
      // travel moves have been received so enact them
      delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
      set_destination_to_current();
      prepare_move();
    }
  #endif

  #if ENABLED(IDLE_OOZING_PREVENT)
    if (blocks_queued()) axis_last_activity = millis();
    if (degHotend(active_extruder) > IDLE_OOZING_MINTEMP && !(debugLevel & DEBUG_DRYRUN) && IDLE_OOZING_enabled) {
      #ifdef FILAMENTCHANGEENABLE
        if (!filament_changing)
      #endif
      {
        if(degTargetHotend(active_extruder) < IDLE_OOZING_MINTEMP) {
          IDLE_OOZING_retract(false);
        }
        else if((millis() - axis_last_activity) >  IDLE_OOZING_SECONDS*1000UL) {
          IDLE_OOZING_retract(true);
        }
      }
    }
  #endif

  #if defined(SDSUPPORT) && defined(SD_SETTINGS)
    if(IS_SD_INSERTED && !IS_SD_PRINTING) {
      if (!config_readed) {
        ConfigSD_RetrieveSettings(true);
        ConfigSD_StoreSettings();
      }
      else if((millis() - config_last_update) >  SD_CFG_SECONDS * 1000UL) {
        ConfigSD_StoreSettings();
      }
    }
  #endif

  #ifdef TEMP_STAT_LEDS
    handle_status_leds();
  #endif

  #ifdef TEMP_STAT_LEDS
    handle_status_leds();
  #endif

  check_axes_activity();
}

void kill(const char *lcd_msg) {
  #ifdef ULTRA_LCD
    lcd_setalertstatuspgm(lcd_msg);
  #endif

  cli(); // Stop interrupts
  disable_all_heaters();
  disable_all_steppers();

  #if HAS_POWER_SWITCH
    SET_INPUT(PS_ON_PIN);
  #endif

  ECHO_LM(ER, MSG_ERR_KILLED);

  // FMC small patch to update the LCD before ending
  sei();   // enable interrupts
  for (int i = 5; i--; lcd_update()) delay(200); // Wait a short time
  cli();   // disable interrupts
  suicide();
  while(1) { /* Intentionally left empty */ } // Wait for reset
}

#if HAS_FILRUNOUT
  void filrunout() {
    if (!filrunoutEnqueued) {
      filrunoutEnqueued = true;
      enqueuecommands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
      st_synchronize();
    }
  }
#endif

#ifdef FAST_PWM_FAN

  void setPwmFrequency(uint8_t pin, int val) {
    val &= 0x07;
    switch(digitalPinToTimer(pin)) {

      #if defined(TCCR0A)
        case TIMER0A:
        case TIMER0B:
             // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
             // TCCR0B |= val;
             break;
      #endif

      #if defined(TCCR1A)
        case TIMER1A:
        case TIMER1B:
             // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
             // TCCR1B |= val;
             break;
      #endif

      #if defined(TCCR2)
        case TIMER2:
        case TIMER2:
             TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
             TCCR2 |= val;
             break;
      #endif

      #if defined(TCCR2A)
        case TIMER2A:
        case TIMER2B:
             TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
             TCCR2B |= val;
             break;
      #endif

      #if defined(TCCR3A)
        case TIMER3A:
        case TIMER3B:
        case TIMER3C:
             TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
             TCCR3B |= val;
             break;
      #endif

      #if defined(TCCR4A)
        case TIMER4A:
        case TIMER4B:
        case TIMER4C:
             TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
             TCCR4B |= val;
             break;
      #endif

      #if defined(TCCR5A)
        case TIMER5A:
        case TIMER5B:
        case TIMER5C:
             TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
             TCCR5B |= val;
             break;
      #endif
    }
  }

#endif //FAST_PWM_FAN

void Stop() {
  disable_all_heaters();
  if (IsRunning()) {
    Running = false;
    Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
    ECHO_LM(ER, MSG_ERR_STOPPED);
    ECHO_S(PAUSE);
    ECHO_E;
    LCD_MESSAGEPGM(MSG_STOPPED);
  }
}

bool setTargetedHotend(int code) {
  target_extruder = active_extruder;
  if (code_seen('T')) {
    target_extruder = code_value_short();
    if (target_extruder >= EXTRUDERS) {
      ECHO_SMV(ER, "M", code);
      ECHO_EMV(" " MSG_INVALID_EXTRUDER, target_extruder);
      return true;
    }
  }
  return false;
}

float calculate_volumetric_multiplier(float diameter) {
  if (!volumetric_enabled || diameter == 0) return 1.0;
  float d2 = diameter * 0.5;
  return 1.0 / (M_PI * d2 * d2);
}

void calculate_volumetric_multipliers() {
  for (int i = 0; i < EXTRUDERS; i++)
    volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}
