text: /**
   * Marlin 3D Printer Firmware
   * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
   *
   * 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
   */
  
  /**
   * -----------------
   * G-Codes in Marlin
   * -----------------
   *
   * Helpful G-code references:
   *  - http://linuxcnc.org/handbook/gcode/g-code.html
   *  - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
   *
   * Help to document Marlin's G-codes online:
   *  - http://reprap.org/wiki/G-code
   *  - https://github.com/MarlinFirmware/MarlinDocumentation
   *
   * -----------------
   *
   * "G" Codes
   *
   * G0  -> G1
   * G1  - Coordinated Movement X Y Z E
   * G2  - CW ARC
   * G3  - CCW ARC
   * G4  - Dwell S<seconds> or P<milliseconds>
   * G5  - Cubic B-spline with XYZE destination and IJPQ offsets
   * G10 - Retract filament according to settings of M207
   * G11 - Retract recover filament according to settings of M208
   * G12 - Clean tool
   * G20 - Set input units to inches
   * G21 - Set input units to millimeters
   * 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 X Y location (defaults to current XY location)
   * G31 - Dock sled (Z_PROBE_SLED only)
   * G32 - Undock sled (Z_PROBE_SLED only)
   * G38 - Probe target - similar to G28 except it uses the Z_MIN endstop for all three axes
   * 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
   * M17  - Enable/Power all stepper motors
   * M18  - Disable all stepper motors; same as M84
   * M20  - List SD card. (Requires SDSUPPORT)
   * M21  - Init SD card. (Requires SDSUPPORT)
   * M22  - Release SD card. (Requires SDSUPPORT)
   * M23  - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
   * M24  - Start/resume SD print. (Requires SDSUPPORT)
   * M25  - Pause SD print. (Requires SDSUPPORT)
   * M26  - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
   * M27  - Report SD print status. (Requires SDSUPPORT)
   * M28  - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
   * M29  - Stop SD write. (Requires SDSUPPORT)
   * M30  - Delete file from SD: "M30 /path/file.gco"
   * M31  - Report time since last M109 or SD card start to serial.
   * M32  - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
   *        Use P to run other files as sub-programs: "M32 P !filename#"
   *        The '#' is necessary when calling from within sd files, as it stops buffer prereading
   * M33  - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
   * M42  - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted.
   * M43  - Monitor pins & report changes - report active pins
   * M48  - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
   * M75  - Start the print job timer.
   * M76  - Pause the print job timer.
   * M77  - Stop the print job timer.
   * M78  - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
   * M80  - Turn on Power Supply. (Requires POWER_SUPPLY)
   * M81  - Turn off Power Supply. (Requires POWER_SUPPLY)
   * M82  - Set E codes absolute (default).
   * M83  - Set E codes relative while in Absolute (G90) mode.
   * M84  - Disable steppers until next move, or use S<seconds> to specify an idle
   *        duration after which steppers should turn off. S0 disables the timeout.
   * M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
   * M92  - Set planner.axis_steps_per_mm for one or more axes.
   * M104 - Set extruder target temp.
   * M105 - Report current temperatures.
   * M106 - Fan on.
   * M107 - Fan off.
   * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
   * 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
   * M110 - Set the current line number. (Used by host printing)
   * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
   * M112 - Emergency stop.
   * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
   * M114 - Report current position.
   * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
   * M117 - Display a message on the controller screen. (Requires an LCD)
   * M119 - Report endstops status.
   * M120 - Enable endstops detection.
   * M121 - Disable endstops detection.
   * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
   * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
   * M128 - EtoP Open. (Requires BARICUDA)
   * M129 - EtoP Closed. (Requires BARICUDA)
   * M140 - Set bed target temp. S<temp>
   * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
   * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
   * M150 - Set Status LED Color as R<red> U<green> B<blue>. Values 0-255. (Requires BLINKM or RGB_LED)
   * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
   * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
   * M164 - Save the mix as a virtual extruder. (Requires MIXING_EXTRUDER and MIXING_VIRTUAL_TOOLS)
   * M165 - Set the proportions for a mixing extruder. Use parameters ABCDHI to set the mixing factors. (Requires MIXING_EXTRUDER)
   * 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 for heating or cooling. **
   * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
   * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
   * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
   * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
   * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
   * M205 - Set advanced settings. Current units apply:
              S<print> T<travel> minimum speeds
              B<minimum segment time>
              X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
   * M206 - Set additional homing offset.
   * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
   * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
   * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT)
            Every normal extrude-only move will be classified as retract depending on the direction.
   * M211 - Enable, Disable, and/or Report software endstops: S<0|1>
   * M218 - Set a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
   * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
   * M221 - Set Flow Percentage: "M221 S<percent>"
   * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>"
   * M240 - Trigger a camera to take a photograph. (Requires CHDK or PHOTOGRAPH_PIN)
   * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
   * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
   * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
   * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
   * M300 - Play beep sound S<frequency Hz> P<duration ms>
   * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
   * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
   * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
   * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
   * M355 - Turn the Case Light on/off and set its brightness. (Requires CASE_LIGHT_PIN)
   * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
   * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
   * M400 - Finish all moves.
   * M401 - Lower Z probe. (Requires a probe)
   * M402 - Raise Z probe. (Requires a probe)
   * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
   * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
   * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
   * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
   * M410 - Quickstop. Abort all planned moves.
   * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
   * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING)
   * M428 - Set the home_offset based on the current_position. Nearest edge applies.
   * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
   * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
   * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
   * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
   * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
   * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires FILAMENT_CHANGE_FEATURE)
   * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s>" (Requires DELTA)
   * M666 - Set delta endstop adjustment. (Requires DELTA)
   * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
   * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
   * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
   * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
   * M909 - Print digipot/DAC current value. (Requires DAC_STEPPER_CURRENT)
   * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires DAC_STEPPER_CURRENT)
   * M350 - Set microstepping mode. (Requires digital microstepping pins.)
   * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
   *
   * ************ 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)
   * ************* SCARA End ***************
   *
   * ************ Custom codes - This can change to suit future G-code regulations
   * M100 - Watch Free Memory (For Debugging). (Requires M100_FREE_MEMORY_WATCHER)
   * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
   * M999 - Restart after being stopped by error
   *
   * "T" Codes
   *
   * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
   *
   */
  
  #include "Marlin.h"
  
  #include "ultralcd.h"
  #include "planner.h"
  #include "stepper.h"
  #include "endstops.h"
  #include "temperature.h"
  #include "cardreader.h"
  #include "configuration_store.h"
  #include "language.h"
  #include "pins_arduino.h"
  #include "math.h"
  #include "nozzle.h"
  #include "duration_t.h"
  #include "types.h"
  
  #if HAS_ABL
    #include "vector_3.h"
    #if ENABLED(AUTO_BED_LEVELING_LINEAR)
      #include "qr_solve.h"
    #endif
  #elif ENABLED(MESH_BED_LEVELING)
    #include "mesh_bed_leveling.h"
  #endif
  
  #if ENABLED(BEZIER_CURVE_SUPPORT)
    #include "planner_bezier.h"
  #endif
  
  #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
    #include "buzzer.h"
  #endif
  
  #if ENABLED(USE_WATCHDOG)
    #include "watchdog.h"
  #endif
  
  #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(DAC_STEPPER_CURRENT)
    #include "stepper_dac.h"
  #endif
  
  #if ENABLED(EXPERIMENTAL_I2CBUS)
    #include "twibus.h"
  #endif
  
  #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
    #include "endstop_interrupts.h"
  #endif
  
  #if ENABLED(M100_FREE_MEMORY_WATCHER)
    void gcode_M100();
  #endif
  
  #if ENABLED(SDSUPPORT)
    CardReader card;
  #endif
  
  #if ENABLED(EXPERIMENTAL_I2CBUS)
    TWIBus i2c;
  #endif
  
  #if ENABLED(G38_PROBE_TARGET)
    bool G38_move = false,
         G38_endstop_hit = false;
  #endif
  
  bool Running = true;
  
  uint8_t marlin_debug_flags = DEBUG_NONE;
  
  /**
   * Cartesian Current Position
   *   Used to track the logical position as moves are queued.
   *   Used by 'line_to_current_position' to do a move after changing it.
   *   Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
   */
  float current_position[XYZE] = { 0.0 };
  
  /**
   * Cartesian Destination
   *   A temporary position, usually applied to 'current_position'.
   *   Set with 'gcode_get_destination' or 'set_destination_to_current'.
   *   'line_to_destination' sets 'current_position' to 'destination'.
   */
  static float destination[XYZE] = { 0.0 };
  
  /**
   * axis_homed
   *   Flags that each linear axis was homed.
   *   XYZ on cartesian, ABC on delta, ABZ on SCARA.
   *
   * axis_known_position
   *   Flags that the position is known in each linear axis. Set when homed.
   *   Cleared whenever a stepper powers off, potentially losing its position.
   */
  bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
  
  /**
   * GCode line number handling. Hosts may opt to include line numbers when
   * sending commands to Marlin, and lines will be checked for sequentiality.
   * M110 S<int> sets the current line number.
   */
  static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
  
  /**
   * GCode Command Queue
   * A simple ring buffer of BUFSIZE command strings.
   *
   * Commands are copied into this buffer by the command injectors
   * (immediate, serial, sd card) and they are processed sequentially by
   * the main loop. The process_next_command function parses the next
   * command and hands off execution to individual handler functions.
   */
  static char command_queue[BUFSIZE][MAX_CMD_SIZE];
  static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
                 cmd_queue_index_w = 0, // Ring buffer write position
                 commands_in_queue = 0; // Count of commands in the queue
  
  /**
   * Current GCode Command
   * When a GCode handler is running, these will be set
   */
  static char *current_command,      // The command currently being executed
              *current_command_args, // The address where arguments begin
              *seen_pointer;         // Set by code_seen(), used by the code_value functions
  
  /**
   * Next Injected Command pointer. NULL if no commands are being injected.
   * Used by Marlin internally to ensure that commands initiated from within
   * are enqueued ahead of any pending serial or sd card commands.
   */
  static const char *injected_commands_P = NULL;
  
  #if ENABLED(INCH_MODE_SUPPORT)
    float linear_unit_factor = 1.0, volumetric_unit_factor = 1.0;
  #endif
  
  #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
    TempUnit input_temp_units = TEMPUNIT_C;
  #endif
  
  /**
   * Feed rates are often configured with mm/m
   * but the planner and stepper like mm/s units.
   */
  float constexpr homing_feedrate_mm_s[] = {
    #if ENABLED(DELTA)
      MMM_TO_MMS(HOMING_FEEDRATE_Z), MMM_TO_MMS(HOMING_FEEDRATE_Z),
    #else
      MMM_TO_MMS(HOMING_FEEDRATE_XY), MMM_TO_MMS(HOMING_FEEDRATE_XY),
    #endif
    MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
  };
  static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
  int feedrate_percentage = 100, saved_feedrate_percentage,
      flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
  
  bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
       volumetric_enabled = false;
  float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
        volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
  
  // The distance that XYZ has been offset by G92. Reset by G28.
  float position_shift[XYZ] = { 0 };
  
  // This offset is added to the configured home position.
  // Set by M206, M428, or menu item. Saved to EEPROM.
  float home_offset[XYZ] = { 0 };
  
  // Software Endstops are based on the configured limits.
  #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
    bool soft_endstops_enabled = true;
  #endif
  float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
        soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
  
  #if FAN_COUNT > 0
    int fanSpeeds[FAN_COUNT] = { 0 };
  #endif
  
  // The active extruder (tool). Set with T<extruder> command.
  uint8_t active_extruder = 0;
  
  // Relative Mode. Enable with G91, disable with G90.
  static bool relative_mode = false;
  
  // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
  volatile bool wait_for_heatup = true;
  
  // For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
  #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
    volatile bool wait_for_user = false;
  #endif
  
  const char errormagic[] PROGMEM = "Error:";
  const char echomagic[] PROGMEM = "echo:";
  const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
  
  // Number of characters read in the current line of serial input
  static int serial_count = 0;
  
  // 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) * 1000UL;
  
  // Print Job Timer
  #if ENABLED(PRINTCOUNTER)
    PrintCounter print_job_timer = PrintCounter();
  #else
    Stopwatch print_job_timer = Stopwatch();
  #endif
  
  // Buzzer - I2C on the LCD or a BEEPER_PIN
  #if ENABLED(LCD_USE_I2C_BUZZER)
    #define BUZZ(d,f) lcd_buzz(d, f)
  #elif PIN_EXISTS(BEEPER)
    Buzzer buzzer;
    #define BUZZ(d,f) buzzer.tone(d, f)
  #else
    #define BUZZ(d,f) NOOP
  #endif
  
  static uint8_t target_extruder;
  
  #if HAS_BED_PROBE
    float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
  #endif
  
  #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
  
  #if HAS_ABL
    float xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
    #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s
  #elif defined(XY_PROBE_SPEED)
    #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED)
  #else
    #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE()
  #endif
  
  #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
    #if ENABLED(DELTA)
      #define ADJUST_DELTA(V) \
        if (planner.abl_enabled) { \
          const float zadj = bilinear_z_offset(V); \
          delta[A_AXIS] += zadj; \
          delta[B_AXIS] += zadj; \
          delta[C_AXIS] += zadj; \
        }
    #else
      #define ADJUST_DELTA(V) if (planner.abl_enabled) { delta[Z_AXIS] += bilinear_z_offset(V); }
    #endif
  #elif IS_KINEMATIC
    #define ADJUST_DELTA(V) NOOP
  #endif
  
  #if ENABLED(Z_DUAL_ENDSTOPS)
    float z_endstop_adj = 0;
  #endif
  
  // Extruder offsets
  #if HOTENDS > 1
    float hotend_offset[XYZ][HOTENDS];
  #endif
  
  #if HAS_Z_SERVO_ENDSTOP
    const int z_servo_angle[2] = Z_SERVO_ANGLES;
  #endif
  
  #if ENABLED(BARICUDA)
    int baricuda_valve_pressure = 0;
    int baricuda_e_to_p_pressure = 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_mm_s = 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_mm_s = 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(ULTIPANEL) && HAS_CASE_LIGHT
    bool case_light_on =
      #if ENABLED(CASE_LIGHT_DEFAULT_ON)
        true
      #else
        false
      #endif
    ;
  #endif
  
  #if ENABLED(DELTA)
  
    #define SIN_60 0.8660254037844386
    #define COS_60 0.5
  
    float delta[ABC],
          endstop_adj[ABC] = { 0 };
  
    // these are the default values, can be overriden with M665
    float delta_radius = DELTA_RADIUS,
          delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
          delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
          delta_tower2_x =  SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
          delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
          delta_tower3_x = 0,                                                    // back middle tower
          delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
          delta_diagonal_rod = DELTA_DIAGONAL_ROD,
          delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1,
          delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2,
          delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3,
          delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1),
          delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2),
          delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3),
          delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND,
          delta_clip_start_height = Z_MAX_POS;
  
    float delta_safe_distance_from_top();
  
  #else
  
    static bool home_all_axis = true;
  
  #endif
  
  #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
    int bilinear_grid_spacing[2] = { 0 }, bilinear_start[2] = { 0 };
    float bed_level_grid[ABL_GRID_POINTS_X][ABL_GRID_POINTS_Y];
  #endif
  
  #if IS_SCARA
    // Float constants for SCARA calculations
    const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
                L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
                L2_2 = sq(float(L2));
  
    float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
          delta[ABC];
  #endif
  
  float cartes[XYZ] = { 0 };
  
  #if ENABLED(FILAMENT_WIDTH_SENSOR)
    bool filament_sensor = false;  //M405 turns on filament_sensor control, M406 turns it off
    float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA,  // Nominal filament width. Change with M404
          filament_width_meas = DEFAULT_MEASURED_FILAMENT_DIA;    // Measured filament diameter
    int8_t measurement_delay[MAX_MEASUREMENT_DELAY + 1]; // Ring buffer to delayed measurement. Store extruder factor after subtracting 100
    int filwidth_delay_index[2] = { 0, -1 };  // Indexes into ring buffer
    int meas_delay_cm = MEASUREMENT_DELAY_CM;  //distance delay setting
  #endif
  
  #if ENABLED(FILAMENT_RUNOUT_SENSOR)
    static bool filament_ran_out = false;
  #endif
  
  #if ENABLED(FILAMENT_CHANGE_FEATURE)
    FilamentChangeMenuResponse filament_change_menu_response;
  #endif
  
  #if ENABLED(MIXING_EXTRUDER)
    float mixing_factor[MIXING_STEPPERS]; // Reciprocal of mix proportion. 0.0 = off, otherwise >= 1.0.
    #if MIXING_VIRTUAL_TOOLS > 1
      float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
    #endif
  #endif
  
  static bool send_ok[BUFSIZE];
  
  #if HAS_SERVOS
    Servo servo[NUM_SERVOS];
    #define MOVE_SERVO(I, P) servo[I].move(P)
    #if HAS_Z_SERVO_ENDSTOP
      #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[0])
      #define STOW_Z_SERVO() MOVE_SERVO(Z_ENDSTOP_SERVO_NR, z_servo_angle[1])
    #endif
  #endif
  
  #ifdef CHDK
    millis_t chdkHigh = 0;
    boolean chdkActive = false;
  #endif
  
  #if ENABLED(PID_EXTRUSION_SCALING)
    int lpq_len = 20;
  #endif
  
  #if ENABLED(HOST_KEEPALIVE_FEATURE)
    static MarlinBusyState busy_state = NOT_BUSY;
    static millis_t next_busy_signal_ms = 0;
    uint8_t host_keepalive_interval = DEFAULT_KEEPALIVE_INTERVAL;
    #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
  #else
    #define host_keepalive() ;
    #define KEEPALIVE_STATE(n) ;
  #endif // HOST_KEEPALIVE_FEATURE
  
  #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[XYZ] =        \
        { X_##CONFIG, Y_##CONFIG, Z_##CONFIG };     \
    static inline type array(int axis)          \
    { return pgm_read_any(&array##_P[axis]); }
  
  XYZ_CONSTS_FROM_CONFIG(float, base_min_pos,   MIN_POS)
  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)
  XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm,   HOME_BUMP_MM)
  XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR)
  
  /**
   * ***************************************************************************
   * ******************************** FUNCTIONS ********************************
   * ***************************************************************************
   */
  
  void stop();
  
  void get_available_commands();
  void process_next_command();
  void prepare_move_to_destination();
  
  void get_cartesian_from_steppers();
  void set_current_from_steppers_for_axis(const AxisEnum axis);
  
  #if ENABLED(ARC_SUPPORT)
    void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
  #endif
  
  #if ENABLED(BEZIER_CURVE_SUPPORT)
    void plan_cubic_move(const float offset[4]);
  #endif
  
  void serial_echopair_P(const char* s_P, const char *v)   { serialprintPGM(s_P); SERIAL_ECHO(v); }
  void serial_echopair_P(const char* s_P, char v)          { serialprintPGM(s_P); SERIAL_CHAR(v); }
  void serial_echopair_P(const char* s_P, int v)           { serialprintPGM(s_P); SERIAL_ECHO(v); }
  void serial_echopair_P(const char* s_P, long v)          { serialprintPGM(s_P); SERIAL_ECHO(v); }
  void serial_echopair_P(const char* s_P, float v)         { serialprintPGM(s_P); SERIAL_ECHO(v); }
  void serial_echopair_P(const char* s_P, double v)        { serialprintPGM(s_P); SERIAL_ECHO(v); }
  void serial_echopair_P(const char* s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); }
  
  void tool_change(const uint8_t tmp_extruder, const float fr_mm_s=0.0, bool no_move=false);
  static void report_current_position();
  
  #if ENABLED(DEBUG_LEVELING_FEATURE)
    void print_xyz(const char* prefix, const char* suffix, const float x, const float y, const float z) {
      serialprintPGM(prefix);
      SERIAL_ECHOPAIR("(", x);
      SERIAL_ECHOPAIR(", ", y);
      SERIAL_ECHOPAIR(", ", z);
      SERIAL_ECHOPGM(")");
  
      if (suffix) serialprintPGM(suffix);
      else SERIAL_EOL;
    }
  
    void print_xyz(const char* prefix, const char* suffix, const float xyz[]) {
      print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
    }
  
    #if HAS_ABL
      void print_xyz(const char* prefix, const char* suffix, const vector_3 &xyz) {
        print_xyz(prefix, suffix, xyz.x, xyz.y, xyz.z);
      }
    #endif
  
    #define DEBUG_POS(SUFFIX,VAR) do { \
      print_xyz(PSTR("  " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
  #endif
  
  /**
   * sync_plan_position
   *
   * Set the planner/stepper positions directly from current_position with
   * no kinematic translation. Used for homing axes and cartesian/core syncing.
   */
  inline void sync_plan_position() {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
    #endif
    planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  }
  inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
  
  #if IS_KINEMATIC
  
    inline void sync_plan_position_kinematic() {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
      #endif
      planner.set_position_mm_kinematic(current_position);
    }
    #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
  
  #else
  
    #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
  
  #endif
  
  #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
  
  #if ENABLED(DIGIPOT_I2C)
    extern void digipot_i2c_set_current(int channel, float current);
    extern void digipot_i2c_init();
  #endif
  
  /**
   * Inject the next "immediate" command, when possible.
   * Return true if any immediate commands remain to inject.
   */
  static bool drain_injected_commands_P() {
    if (injected_commands_P != NULL) {
      size_t i = 0;
      char c, cmd[30];
      strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
      cmd[sizeof(cmd) - 1] = '\0';
      while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
      cmd[i] = '\0';
      if (enqueue_and_echo_command(cmd)) {   // success?
        if (c)                               // newline char?
          injected_commands_P += i + 1;        // advance to the next command
        else
          injected_commands_P = NULL;          // nul char? no more commands
      }
    }
    return (injected_commands_P != NULL);      // return whether any more remain
  }
  
  /**
   * Record one or many commands to run from program memory.
   * Aborts the current queue, if any.
   * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
   */
  void enqueue_and_echo_commands_P(const char* pgcode) {
    injected_commands_P = pgcode;
    drain_injected_commands_P(); // first command executed asap (when possible)
  }
  
  void clear_command_queue() {
    cmd_queue_index_r = cmd_queue_index_w;
    commands_in_queue = 0;
  }
  
  /**
   * Once a new command is in the ring buffer, call this to commit it
   */
  inline void _commit_command(bool say_ok) {
    send_ok[cmd_queue_index_w] = say_ok;
    cmd_queue_index_w = (cmd_queue_index_w + 1) % BUFSIZE;
    commands_in_queue++;
  }
  
  /**
   * Copy a command directly into the main command buffer, from RAM.
   * Returns true if successfully adds the command
   */
  inline bool _enqueuecommand(const char* cmd, bool say_ok=false) {
    if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false;
    strcpy(command_queue[cmd_queue_index_w], cmd);
    _commit_command(say_ok);
    return true;
  }
  
  void enqueue_and_echo_command_now(const char* cmd) {
    while (!enqueue_and_echo_command(cmd)) idle();
  }
  
  /**
   * Enqueue with Serial Echo
   */
  bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
    if (_enqueuecommand(cmd, say_ok)) {
      SERIAL_ECHO_START;
      SERIAL_ECHOPAIR(MSG_Enqueueing, cmd);
      SERIAL_CHAR('"');
      SERIAL_EOL;
      return true;
    }
    return false;
  }
  
  void setup_killpin() {
    #if HAS_KILL
      SET_INPUT(KILL_PIN);
      WRITE(KILL_PIN, HIGH);
    #endif
  }
  
  #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  
    void setup_filrunoutpin() {
      SET_INPUT(FIL_RUNOUT_PIN);
      #if ENABLED(ENDSTOPPULLUP_FIL_RUNOUT)
        WRITE(FIL_RUNOUT_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_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
  
    #if HAS_Z_SERVO_ENDSTOP
      /**
       * Set position of Z Servo Endstop
       *
       * The servo might be deployed and positioned too low to stow
       * when starting up the machine or rebooting the board.
       * There's no way to know where the nozzle is positioned until
       * homing has been done - no homing with z-probe without init!
       *
       */
      STOW_Z_SERVO();
    #endif
  }
  
  /**
   * Stepper Reset (RigidBoard, et.al.)
   */
  #if HAS_STEPPER_RESET
    void disableStepperDrivers() {
      OUT_WRITE(STEPPER_RESET_PIN, LOW);  // drive it down to hold in reset motor driver chips
    }
    void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); }  // set to input, which allows it to be pulled high by pullups
  #endif
  
  #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
  
    void i2c_on_receive(int bytes) { // just echo all bytes received to serial
      i2c.receive(bytes);
    }
  
    void i2c_on_request() {          // just send dummy data for now
      i2c.reply("Hello World!\n");
    }
  
  #endif
  
  void gcode_line_error(const char* err, bool doFlush = true) {
    SERIAL_ERROR_START;
    serialprintPGM(err);
    SERIAL_ERRORLN(gcode_LastN);
    //Serial.println(gcode_N);
    if (doFlush) FlushSerialRequestResend();
    serial_count = 0;
  }
  
  inline void get_serial_commands() {
    static char serial_line_buffer[MAX_CMD_SIZE];
    static boolean serial_comment_mode = false;
  
    // If the command buffer is empty for too long,
    // send "wait" to indicate Marlin is still waiting.
    #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
      static millis_t last_command_time = 0;
      millis_t ms = millis();
      if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) {
        SERIAL_ECHOLNPGM(MSG_WAIT);
        last_command_time = ms;
      }
    #endif
  
    /**
     * Loop while serial characters are incoming and the queue is not full
     */
    while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
  
      char serial_char = MYSERIAL.read();
  
      /**
       * If the character ends the line
       */
      if (serial_char == '\n' || serial_char == '\r') {
  
        serial_comment_mode = false; // end of line == end of comment
  
        if (!serial_count) continue; // skip empty lines
  
        serial_line_buffer[serial_count] = 0; // terminate string
        serial_count = 0; //reset buffer
  
        char* command = serial_line_buffer;
  
        while (*command == ' ') command++; // skip any leading spaces
        char* npos = (*command == 'N') ? command : NULL; // Require the N parameter to start the line
        char* apos = strchr(command, '*');
  
        if (npos) {
  
          boolean M110 = strstr_P(command, PSTR("M110")) != NULL;
  
          if (M110) {
            char* 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;
          }
  
          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 {
            gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM));
            return;
          }
  
          gcode_LastN = gcode_N;
          // if no errors, continue parsing
        }
        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) {
            int codenum = strtol(gpos + 1, NULL, 10);
            switch (codenum) {
              case 0:
              case 1:
              case 2:
              case 3:
                SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
                LCD_MESSAGEPGM(MSG_STOPPED);
                break;
            }
          }
        }
  
        #if DISABLED(EMERGENCY_PARSER)
          // If command was e-stop process now
          if (strcmp(command, "M108") == 0) {
            wait_for_heatup = false;
            #if ENABLED(ULTIPANEL)
              wait_for_user = false;
            #endif
          }
          if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED));
          if (strcmp(command, "M410") == 0) { quickstop_stepper(); }
        #endif
  
        #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
          last_command_time = ms;
        #endif
  
        // Add the command to the queue
        _enqueuecommand(serial_line_buffer, true);
      }
      else if (serial_count >= MAX_CMD_SIZE - 1) {
        // Keep fetching, but ignore normal characters beyond the max length
        // The command will be injected when EOL is reached
      }
      else if (serial_char == '\\') {  // Handle escapes
        if (MYSERIAL.available() > 0) {
          // if we have one more character, copy it over
          serial_char = MYSERIAL.read();
          if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
        }
        // otherwise do nothing
      }
      else { // it's not a newline, carriage return or escape char
        if (serial_char == ';') serial_comment_mode = true;
        if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char;
      }
  
    } // queue has space, serial has data
  }
  
  #if ENABLED(SDSUPPORT)
  
    inline void get_sdcard_commands() {
      static bool stop_buffering = false,
                  sd_comment_mode = false;
  
      if (!card.sdprinting) 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 run dry; this character _can_ occur in serial com
       * due to checksums, however, no checksums are used in SD printing.
       */
  
      if (commands_in_queue == 0) stop_buffering = false;
  
      uint16_t sd_count = 0;
      bool card_eof = card.eof();
      while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) {
        int16_t n = card.get();
        char sd_char = (char)n;
        card_eof = card.eof();
        if (card_eof || n == -1
            || sd_char == '\n' || sd_char == '\r'
            || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode)
        ) {
          if (card_eof) {
            SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED);
            card.printingHasFinished();
            card.checkautostart(true);
          }
          else if (n == -1) {
            SERIAL_ERROR_START;
            SERIAL_ECHOLNPGM(MSG_SD_ERR_READ);
          }
          if (sd_char == '#') stop_buffering = true;
  
          sd_comment_mode = false; //for new command
  
          if (!sd_count) continue; //skip empty lines
  
          command_queue[cmd_queue_index_w][sd_count] = '\0'; //terminate string
          sd_count = 0; //clear buffer
  
          _commit_command(false);
        }
        else if (sd_count >= MAX_CMD_SIZE - 1) {
          /**
           * Keep fetching, but ignore normal characters beyond the max length
           * The command will be injected when EOL is reached
           */
        }
        else {
          if (sd_char == ';') sd_comment_mode = true;
          if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char;
        }
      }
    }
  
  #endif // SDSUPPORT
  
  /**
   * Add to the circular command queue the next command from:
   *  - The command-injection queue (injected_commands_P)
   *  - The active serial input (usually USB)
   *  - The SD card file being actively printed
   */
  void get_available_commands() {
  
    // if any immediate commands remain, don't get other commands yet
    if (drain_injected_commands_P()) return;
  
    get_serial_commands();
  
    #if ENABLED(SDSUPPORT)
      get_sdcard_commands();
    #endif
  }
  
  inline bool code_has_value() {
    int i = 1;
    char c = seen_pointer[i];
    while (c == ' ') c = seen_pointer[++i];
    if (c == '-' || c == '+') c = seen_pointer[++i];
    if (c == '.') c = seen_pointer[++i];
    return NUMERIC(c);
  }
  
  inline float code_value_float() {
    float ret;
    char* 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;
  }
  
  inline unsigned long code_value_ulong() { return strtoul(seen_pointer + 1, NULL, 10); }
  
  inline long code_value_long() { return strtol(seen_pointer + 1, NULL, 10); }
  
  inline int code_value_int() { return (int)strtol(seen_pointer + 1, NULL, 10); }
  
  inline uint16_t code_value_ushort() { return (uint16_t)strtoul(seen_pointer + 1, NULL, 10); }
  
  inline uint8_t code_value_byte() { return (uint8_t)(constrain(strtol(seen_pointer + 1, NULL, 10), 0, 255)); }
  
  inline bool code_value_bool() { return !code_has_value() || code_value_byte() > 0; }
  
  #if ENABLED(INCH_MODE_SUPPORT)
    inline void set_input_linear_units(LinearUnit units) {
      switch (units) {
        case LINEARUNIT_INCH:
          linear_unit_factor = 25.4;
          break;
        case LINEARUNIT_MM:
        default:
          linear_unit_factor = 1.0;
          break;
      }
      volumetric_unit_factor = pow(linear_unit_factor, 3.0);
    }
  
    inline float axis_unit_factor(int axis) {
      return (axis >= E_AXIS && volumetric_enabled ? volumetric_unit_factor : linear_unit_factor);
    }
  
    inline float code_value_linear_units() { return code_value_float() * linear_unit_factor; }
    inline float code_value_axis_units(int axis) { return code_value_float() * axis_unit_factor(axis); }
    inline float code_value_per_axis_unit(int axis) { return code_value_float() / axis_unit_factor(axis); }
  
  #else
  
    inline float code_value_linear_units() { return code_value_float(); }
    inline float code_value_axis_units(int axis) { UNUSED(axis); return code_value_float(); }
    inline float code_value_per_axis_unit(int axis) { UNUSED(axis); return code_value_float(); }
  
  #endif
  
  #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
    inline void set_input_temp_units(TempUnit units) { input_temp_units = units; }
  
    float code_value_temp_abs() {
      switch (input_temp_units) {
        case TEMPUNIT_C:
          return code_value_float();
        case TEMPUNIT_F:
          return (code_value_float() - 32) * 0.5555555556;
        case TEMPUNIT_K:
          return code_value_float() - 272.15;
        default:
          return code_value_float();
      }
    }
  
    float code_value_temp_diff() {
      switch (input_temp_units) {
        case TEMPUNIT_C:
        case TEMPUNIT_K:
          return code_value_float();
        case TEMPUNIT_F:
          return code_value_float() * 0.5555555556;
        default:
          return code_value_float();
      }
    }
  #else
    float code_value_temp_abs() { return code_value_float(); }
    float code_value_temp_diff() { return code_value_float(); }
  #endif
  
  FORCE_INLINE millis_t code_value_millis() { return code_value_ulong(); }
  inline millis_t code_value_millis_from_seconds() { return code_value_float() * 1000; }
  
  bool code_seen(char code) {
    seen_pointer = strchr(current_command_args, code);
    return (seen_pointer != NULL); // Return TRUE if the code-letter was found
  }
  
  /**
   * Set target_extruder from the T parameter or the active_extruder
   *
   * Returns TRUE if the target is invalid
   */
  bool get_target_extruder_from_command(int code) {
    if (code_seen('T')) {
      if (code_value_byte() >= EXTRUDERS) {
        SERIAL_ECHO_START;
        SERIAL_CHAR('M');
        SERIAL_ECHO(code);
        SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", code_value_byte());
        return true;
      }
      target_extruder = code_value_byte();
    }
    else
      target_extruder = active_extruder;
  
    return false;
  }
  
  #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
    bool extruder_duplication_enabled = false; // Used in Dual X mode 2
  #endif
  
  #if ENABLED(DUAL_X_CARRIAGE)
  
    static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
  
    static float x_home_pos(const int extruder) {
      if (extruder == 0)
        return LOGICAL_X_POSITION(base_home_pos(X_AXIS));
      else
        /**
         * In dual carriage mode the extruder offset provides an override of the
         * second X-carriage position when homed - otherwise X2_HOME_POS is used.
         * This allows soft recalibration of the second extruder home position
         * without firmware reflash (through the M218 command).
         */
        return LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS);
    }
  
    static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_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_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
    static float duplicate_extruder_temp_offset = 0;   // used in mode 2
  
  #endif // DUAL_X_CARRIAGE
  
  /**
   * Software endstops can be used to monitor the open end of
   * an axis that has a hardware endstop on the other end. Or
   * they can prevent axes from moving past endstops and grinding.
   *
   * To keep doing their job as the coordinate system changes,
   * the software endstop positions must be refreshed to remain
   * at the same positions relative to the machine.
   */
  void update_software_endstops(AxisEnum axis) {
    float offs = LOGICAL_POSITION(0, axis);
  
    #if ENABLED(DUAL_X_CARRIAGE)
      bool did_update = false;
      if (axis == X_AXIS) {
  
        // In Dual X mode hotend_offset[X] is T1's home position
        float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
  
        if (active_extruder != 0) {
          // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
          soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
          soft_endstop_max[X_AXIS] = dual_max_x + offs;
        }
        else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
          // In Duplication Mode, T0 can move as far left as X_MIN_POS
          // but not so far to the right that T1 would move past the end
          soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
          soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
        }
        else {
          // In other modes, T0 can move from X_MIN_POS to X_MAX_POS
          soft_endstop_min[axis] = base_min_pos(axis) + offs;
          soft_endstop_max[axis] = base_max_pos(axis) + offs;
        }
      }
    #else
      soft_endstop_min[axis] = base_min_pos(axis) + offs;
      soft_endstop_max[axis] = base_max_pos(axis) + offs;
    #endif
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOPAIR("For ", axis_codes[axis]);
        SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
        SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
        SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
        SERIAL_ECHOLNPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
      }
    #endif
  
    #if ENABLED(DELTA)
      if (axis == Z_AXIS)
        delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
    #endif
  
  }
  
  /**
   * Change the home offset for an axis, update the current
   * position and the software endstops to retain the same
   * relative distance to the new home.
   *
   * Since this changes the current_position, code should
   * call sync_plan_position soon after this.
   */
  static void set_home_offset(AxisEnum axis, float v) {
    current_position[axis] += v - home_offset[axis];
    home_offset[axis] = v;
    update_software_endstops(axis);
  }
  
  /**
   * Set an axis' current position to its home position (after homing).
   *
   * For Core and Cartesian robots this applies one-to-one when an
   * individual axis has been homed.
   *
   * DELTA should wait until all homing is done before setting the XYZ
   * current_position to home, because homing is a single operation.
   * In the case where the axis positions are already known and previously
   * homed, DELTA could home to X or Y individually by moving either one
   * to the center. However, homing Z always homes XY and Z.
   *
   * SCARA should wait until all XY homing is done before setting the XY
   * current_position to home, because neither X nor Y is at home until
   * both are at home. Z can however be homed individually.
   *
   * Callers must sync the planner position after calling this!
   */
  static void set_axis_is_at_home(AxisEnum axis) {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
        SERIAL_CHAR(')');
        SERIAL_EOL;
      }
    #endif
  
    axis_known_position[axis] = axis_homed[axis] = true;
  
    position_shift[axis] = 0;
    update_software_endstops(axis);
  
    #if ENABLED(DUAL_X_CARRIAGE)
      if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
        current_position[X_AXIS] = x_home_pos(active_extruder);
        return;
      }
    #endif
  
    #if ENABLED(MORGAN_SCARA)
  
      /**
       * Morgan SCARA homes XY at the same time
       */
      if (axis == X_AXIS || axis == Y_AXIS) {
  
        float homeposition[XYZ];
        LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos((AxisEnum)i), i);
  
        // SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
        // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
  
        /**
         * Get Home position SCARA arm angles using inverse kinematics,
         * and calculate homing offset using forward kinematics
         */
        inverse_kinematics(homeposition);
        forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
  
        // SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
        // SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
  
        current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
  
        /**
         * SCARA home positions are based on configuration since the actual
         * limits are determined by the inverse kinematic transform.
         */
        soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
        soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
      }
      else
    #endif
    {
      current_position[axis] = LOGICAL_POSITION(base_home_pos(axis), axis);
    }
  
    /**
     * Z Probe Z Homing? Account for the probe's Z offset.
     */
    #if HAS_BED_PROBE && Z_HOME_DIR < 0
      if (axis == Z_AXIS) {
        #if HOMING_Z_WITH_PROBE
  
          current_position[Z_AXIS] -= zprobe_zoffset;
  
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) {
              SERIAL_ECHOLNPGM("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***");
              SERIAL_ECHOLNPAIR("> zprobe_zoffset = ", zprobe_zoffset);
            }
          #endif
  
        #elif ENABLED(DEBUG_LEVELING_FEATURE)
  
          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("*** Z HOMED TO ENDSTOP (Z_MIN_PROBE_ENDSTOP) ***");
  
        #endif
      }
    #endif
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOPAIR("> home_offset[", axis_codes[axis]);
        SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
        DEBUG_POS("", current_position);
        SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
        SERIAL_CHAR(')');
        SERIAL_EOL;
      }
    #endif
  }
  
  /**
   * Some planner shorthand inline functions
   */
  inline float get_homing_bump_feedrate(AxisEnum axis) {
    int constexpr homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
    int hbd = homing_bump_divisor[axis];
    if (hbd < 1) {
      hbd = 10;
      SERIAL_ECHO_START;
      SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1");
    }
    return homing_feedrate_mm_s[axis] / hbd;
  }
  
  //
  // line_to_current_position
  // Move the planner to the current position from wherever it last moved
  // (or from wherever it has been told it is located).
  //
  inline void line_to_current_position() {
    planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
  }
  
  //
  // line_to_destination
  // Move the planner, not necessarily synced with current_position
  //
  inline void line_to_destination(float fr_mm_s) {
    planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
  }
  inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
  
  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)); }
  
  #if IS_KINEMATIC
    /**
     * Calculate delta, start a line, and set current_position to destination
     */
    void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
      #endif
  
      if ( current_position[X_AXIS] == destination[X_AXIS]
        && current_position[Y_AXIS] == destination[Y_AXIS]
        && current_position[Z_AXIS] == destination[Z_AXIS]
        && current_position[E_AXIS] == destination[E_AXIS]
      ) return;
  
      refresh_cmd_timeout();
      planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
      set_current_to_destination();
    }
  #endif // IS_KINEMATIC
  
  /**
   *  Plan a move to (X, Y, Z) and set the current_position
   *  The final current_position may not be the one that was requested
   */
  void do_blocking_move_to(const float &x, const float &y, const float &z, const float &fr_mm_s /*=0.0*/) {
    float old_feedrate_mm_s = feedrate_mm_s;
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) print_xyz(PSTR(">>> do_blocking_move_to"), NULL, x, y, z);
    #endif
  
    #if ENABLED(DELTA)
  
      feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
  
      set_destination_to_current();          // sync destination at the start
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS("set_destination_to_current", destination);
      #endif
  
      // when in the danger zone
      if (current_position[Z_AXIS] > delta_clip_start_height) {
        if (z > delta_clip_start_height) {   // staying in the danger zone
          destination[X_AXIS] = x;           // move directly (uninterpolated)
          destination[Y_AXIS] = y;
          destination[Z_AXIS] = z;
          prepare_uninterpolated_move_to_destination(); // set_current_to_destination
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position);
          #endif
          return;
        }
        else {
          destination[Z_AXIS] = delta_clip_start_height;
          prepare_uninterpolated_move_to_destination(); // set_current_to_destination
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position);
          #endif
        }
      }
  
      if (z > current_position[Z_AXIS]) {    // raising?
        destination[Z_AXIS] = z;
        prepare_uninterpolated_move_to_destination();   // set_current_to_destination
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position);
        #endif
      }
  
      destination[X_AXIS] = x;
      destination[Y_AXIS] = y;
      prepare_move_to_destination();         // set_current_to_destination
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position);
      #endif
  
      if (z < current_position[Z_AXIS]) {    // lowering?
        destination[Z_AXIS] = z;
        prepare_uninterpolated_move_to_destination();   // set_current_to_destination
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position);
        #endif
      }
  
    #elif IS_SCARA
  
      set_destination_to_current();
  
      // If Z needs to raise, do it before moving XY
      if (destination[Z_AXIS] < z) {
        destination[Z_AXIS] = z;
        prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
      }
  
      destination[X_AXIS] = x;
      destination[Y_AXIS] = y;
      prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
  
      // If Z needs to lower, do it after moving XY
      if (destination[Z_AXIS] > z) {
        destination[Z_AXIS] = z;
        prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
      }
  
    #else
  
      // If Z needs to raise, do it before moving XY
      if (current_position[Z_AXIS] < z) {
        feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
        current_position[Z_AXIS] = z;
        line_to_current_position();
      }
  
      feedrate_mm_s = fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
      current_position[X_AXIS] = x;
      current_position[Y_AXIS] = y;
      line_to_current_position();
  
      // If Z needs to lower, do it after moving XY
      if (current_position[Z_AXIS] > z) {
        feedrate_mm_s = fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS];
        current_position[Z_AXIS] = z;
        line_to_current_position();
      }
  
    #endif
  
    stepper.synchronize();
  
    feedrate_mm_s = old_feedrate_mm_s;
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
    #endif
  }
  void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
    do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
  }
  void do_blocking_move_to_z(const float &z, const float &fr_mm_s/*=0.0*/) {
    do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z, fr_mm_s);
  }
  void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s/*=0.0*/) {
    do_blocking_move_to(x, y, current_position[Z_AXIS], fr_mm_s);
  }
  
  //
  // Prepare to do endstop or probe moves
  // with custom feedrates.
  //
  //  - Save current feedrates
  //  - Reset the rate multiplier
  //  - Reset the command timeout
  //  - Enable the endstops (for endstop moves)
  //
  static void setup_for_endstop_or_probe_move() {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS("setup_for_endstop_or_probe_move", current_position);
    #endif
    saved_feedrate_mm_s = feedrate_mm_s;
    saved_feedrate_percentage = feedrate_percentage;
    feedrate_percentage = 100;
    refresh_cmd_timeout();
  }
  
  static void clean_up_after_endstop_or_probe_move() {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) DEBUG_POS("clean_up_after_endstop_or_probe_move", current_position);
    #endif
    feedrate_mm_s = saved_feedrate_mm_s;
    feedrate_percentage = saved_feedrate_percentage;
    refresh_cmd_timeout();
  }
  
  #if HAS_BED_PROBE
    /**
     * Raise Z to a minimum height to make room for a probe to move
     */
    inline void do_probe_raise(float z_raise) {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) {
          SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
          SERIAL_CHAR(')');
          SERIAL_EOL;
        }
      #endif
  
  //    float z_dest = LOGICAL_Z_POSITION(z_raise);
      float z_dest =current_position[Z_AXIS]+z_raise;
      if (zprobe_zoffset < 0) z_dest -= zprobe_zoffset;
  
      if (z_dest > current_position[Z_AXIS])
        do_blocking_move_to_z(z_dest);
    }
  
  #endif //HAS_BED_PROBE
  
  #if ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED) || HAS_PROBING_PROCEDURE || HOTENDS > 1 || ENABLED(NOZZLE_CLEAN_FEATURE) || ENABLED(NOZZLE_PARK_FEATURE)
    static bool axis_unhomed_error(const bool x, const bool y, const bool z) {
      const bool xx = x && !axis_homed[X_AXIS],
                 yy = y && !axis_homed[Y_AXIS],
                 zz = z && !axis_homed[Z_AXIS];
      if (xx || yy || zz) {
        SERIAL_ECHO_START;
        SERIAL_ECHOPGM(MSG_HOME " ");
        if (xx) SERIAL_ECHOPGM(MSG_X);
        if (yy) SERIAL_ECHOPGM(MSG_Y);
        if (zz) SERIAL_ECHOPGM(MSG_Z);
        SERIAL_ECHOLNPGM(" " MSG_FIRST);
  
        #if ENABLED(ULTRA_LCD)
          char message[3 * (LCD_WIDTH) + 1] = ""; // worst case is kana.utf with up to 3*LCD_WIDTH+1
          strcat_P(message, PSTR(MSG_HOME " "));
          if (xx) strcat_P(message, PSTR(MSG_X));
          if (yy) strcat_P(message, PSTR(MSG_Y));
          if (zz) strcat_P(message, PSTR(MSG_Z));
          strcat_P(message, PSTR(" " MSG_FIRST));
          lcd_setstatus(message);
        #endif
        return true;
      }
      return false;
    }
  #endif
  
  #if ENABLED(Z_PROBE_SLED)
  
    #ifndef SLED_DOCKING_OFFSET
      #define SLED_DOCKING_OFFSET 0
    #endif
  
    /**
     * Method to dock/undock a sled designed by Charles Bell.
     *
     * stow[in]     If false, move to MAX_X and engage the solenoid
     *              If true, move to MAX_X and release the solenoid
     */
    static void dock_sled(bool stow) {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) {
          SERIAL_ECHOPAIR("dock_sled(", stow);
          SERIAL_CHAR(')');
          SERIAL_EOL;
        }
      #endif
  
      // Dock sled a bit closer to ensure proper capturing
      do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0));
  
      #if PIN_EXISTS(SLED)
        digitalWrite(SLED_PIN, !stow); // switch solenoid
      #endif
    }
  
  #elif ENABLED(Z_PROBE_ALLEN_KEY)
  
    void run_deploy_moves_script() {
      #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
          #define Z_PROBE_ALLEN_KEY_DEPLOY_1_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Y
          #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_Z
          #define Z_PROBE_ALLEN_KEY_DEPLOY_1_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_1_X, Z_PROBE_ALLEN_KEY_DEPLOY_1_Y, Z_PROBE_ALLEN_KEY_DEPLOY_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE));
      #endif
      #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_X
          #define Z_PROBE_ALLEN_KEY_DEPLOY_2_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Y
          #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_Z
          #define Z_PROBE_ALLEN_KEY_DEPLOY_2_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_2_X, Z_PROBE_ALLEN_KEY_DEPLOY_2_Y, Z_PROBE_ALLEN_KEY_DEPLOY_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE));
      #endif
      #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_3_Z)
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
          #define Z_PROBE_ALLEN_KEY_DEPLOY_3_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Y
          #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_Z
          #define Z_PROBE_ALLEN_KEY_DEPLOY_3_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_3_X, Z_PROBE_ALLEN_KEY_DEPLOY_3_Y, Z_PROBE_ALLEN_KEY_DEPLOY_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE));
      #endif
      #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_4_Z)
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_X
          #define Z_PROBE_ALLEN_KEY_DEPLOY_4_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Y
          #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_Z
          #define Z_PROBE_ALLEN_KEY_DEPLOY_4_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_4_X, Z_PROBE_ALLEN_KEY_DEPLOY_4_Y, Z_PROBE_ALLEN_KEY_DEPLOY_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE));
      #endif
      #if defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_5_Z)
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_X
          #define Z_PROBE_ALLEN_KEY_DEPLOY_5_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Y
          #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_Z
          #define Z_PROBE_ALLEN_KEY_DEPLOY_5_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
      #endif
    }
  
    void run_stow_moves_script() {
      #if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
        #ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
          #define Z_PROBE_ALLEN_KEY_STOW_1_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Y
          #define Z_PROBE_ALLEN_KEY_STOW_1_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_1_Z
          #define Z_PROBE_ALLEN_KEY_STOW_1_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_1_X, Z_PROBE_ALLEN_KEY_STOW_1_Y, Z_PROBE_ALLEN_KEY_STOW_1_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE));
      #endif
      #if defined(Z_PROBE_ALLEN_KEY_STOW_2_X) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_2_Z)
        #ifndef Z_PROBE_ALLEN_KEY_STOW_2_X
          #define Z_PROBE_ALLEN_KEY_STOW_2_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Y
          #define Z_PROBE_ALLEN_KEY_STOW_2_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_2_Z
          #define Z_PROBE_ALLEN_KEY_STOW_2_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_2_X, Z_PROBE_ALLEN_KEY_STOW_2_Y, Z_PROBE_ALLEN_KEY_STOW_2_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE));
      #endif
      #if defined(Z_PROBE_ALLEN_KEY_STOW_3_X) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_3_Z)
        #ifndef Z_PROBE_ALLEN_KEY_STOW_3_X
          #define Z_PROBE_ALLEN_KEY_STOW_3_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Y
          #define Z_PROBE_ALLEN_KEY_STOW_3_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_3_Z
          #define Z_PROBE_ALLEN_KEY_STOW_3_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_3_X, Z_PROBE_ALLEN_KEY_STOW_3_Y, Z_PROBE_ALLEN_KEY_STOW_3_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE));
      #endif
      #if defined(Z_PROBE_ALLEN_KEY_STOW_4_X) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_4_Z)
        #ifndef Z_PROBE_ALLEN_KEY_STOW_4_X
          #define Z_PROBE_ALLEN_KEY_STOW_4_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Y
          #define Z_PROBE_ALLEN_KEY_STOW_4_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_4_Z
          #define Z_PROBE_ALLEN_KEY_STOW_4_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_4_X, Z_PROBE_ALLEN_KEY_STOW_4_Y, Z_PROBE_ALLEN_KEY_STOW_4_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE));
      #endif
      #if defined(Z_PROBE_ALLEN_KEY_STOW_5_X) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_5_Z)
        #ifndef Z_PROBE_ALLEN_KEY_STOW_5_X
          #define Z_PROBE_ALLEN_KEY_STOW_5_X current_position[X_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Y
          #define Z_PROBE_ALLEN_KEY_STOW_5_Y current_position[Y_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_5_Z
          #define Z_PROBE_ALLEN_KEY_STOW_5_Z current_position[Z_AXIS]
        #endif
        #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE
          #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0
        #endif
        do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
      #endif
    }
  
  #endif
  
  #if HAS_BED_PROBE
  
   // TRIGGERED_WHEN_STOWED_TEST can easily be extended to servo probes, ... if needed.
    #if ENABLED(PROBE_IS_TRIGGERED_WHEN_STOWED_TEST)
      #if ENABLED(Z_MIN_PROBE_ENDSTOP)
        #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
      #else
        #define _TRIGGERED_WHEN_STOWED_TEST (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
      #endif
    #endif
  
    #define DEPLOY_PROBE() set_probe_deployed(true)
    #define STOW_PROBE() set_probe_deployed(false)
  
    #if ENABLED(BLTOUCH)
      FORCE_INLINE void set_bltouch_deployed(const bool &deploy) {
        servo[Z_ENDSTOP_SERVO_NR].move(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) {
            SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
            SERIAL_CHAR(')');
            SERIAL_EOL;
          }
        #endif
      }
    #endif
  
    // returns false for ok and true for failure
    static bool set_probe_deployed(bool deploy) {
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) {
          DEBUG_POS("set_probe_deployed", current_position);
          SERIAL_ECHOLNPAIR("deploy: ", deploy);
        }
      #endif
  
      if (endstops.z_probe_enabled == deploy) return false;
  
      // Make room for probe
      do_probe_raise(_Z_CLEARANCE_DEPLOY_PROBE);
  
      // When deploying make sure BLTOUCH is not already triggered
      #if ENABLED(BLTOUCH)
        if (deploy && TEST_BLTOUCH()) { stop(); return true; }
      #elif ENABLED(Z_PROBE_SLED)
        if (axis_unhomed_error(true, false, false)) { stop(); return true; }
      #elif ENABLED(Z_PROBE_ALLEN_KEY)
        if (axis_unhomed_error(true, true,  true )) { stop(); return true; }
      #endif
  
      float oldXpos = current_position[X_AXIS],
            oldYpos = current_position[Y_AXIS];
  
      #ifdef _TRIGGERED_WHEN_STOWED_TEST
  
        // If endstop is already false, the Z probe is deployed
        if (_TRIGGERED_WHEN_STOWED_TEST == deploy) {     // closed after the probe specific actions.
                                                         // Would a goto be less ugly?
          //while (!_TRIGGERED_WHEN_STOWED_TEST) idle(); // would offer the opportunity
                                                         // for a triggered when stowed manual probe.
  
          if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early
                                                       // otherwise an Allen-Key probe can't be stowed.
      #endif
  
          #if ENABLED(Z_PROBE_SLED)
  
            dock_sled(!deploy);
  
          #elif HAS_Z_SERVO_ENDSTOP && DISABLED(BLTOUCH)
  
            servo[Z_ENDSTOP_SERVO_NR].move(z_servo_angle[deploy ? 0 : 1]);
  
          #elif ENABLED(Z_PROBE_ALLEN_KEY)
  
            deploy ? run_deploy_moves_script() : run_stow_moves_script();
  
          #endif
  
      #ifdef _TRIGGERED_WHEN_STOWED_TEST
        } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  
        if (_TRIGGERED_WHEN_STOWED_TEST == deploy) { // State hasn't changed?
  
          if (IsRunning()) {
            SERIAL_ERROR_START;
            SERIAL_ERRORLNPGM("Z-Probe failed");
            LCD_ALERTMESSAGEPGM("Err: ZPROBE");
          }
          stop();
          return true;
  
        } // _TRIGGERED_WHEN_STOWED_TEST == deploy
  
      #endif
  
      do_blocking_move_to(oldXpos, oldYpos, current_position[Z_AXIS]); // return to position before deploy
      endstops.enable_z_probe(deploy);
      return false;
    }
  
    static void do_probe_move(float z, float fr_mm_m) {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS(">>> do_probe_move", current_position);
      #endif
  
      // Deploy BLTouch at the start of any probe
      #if ENABLED(BLTOUCH)
        set_bltouch_deployed(true);
      #endif
  
      // Move down until probe triggered
      do_blocking_move_to_z(LOGICAL_Z_POSITION(z), MMM_TO_MMS(fr_mm_m));
  
      // Retract BLTouch immediately after a probe
      #if ENABLED(BLTOUCH)
        set_bltouch_deployed(false);
      #endif
  
      // Clear endstop flags
      endstops.hit_on_purpose();
  
      // Get Z where the steppers were interrupted
      set_current_from_steppers_for_axis(Z_AXIS);
  
      // Tell the planner where we actually are
      SYNC_PLAN_POSITION_KINEMATIC();
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
      #endif
    }
  
    // Do a single Z probe and return with current_position[Z_AXIS]
    // at the height where the probe triggered.
    static float run_z_probe() {
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS(">>> run_z_probe", current_position);
      #endif
  
      // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
      refresh_cmd_timeout();
  
      #if ENABLED(PROBE_DOUBLE_TOUCH)
  
        // Do a first probe at the fast speed
        do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_FAST);
  
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          float first_probe_z = current_position[Z_AXIS];
          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("1st Probe Z:", first_probe_z);
        #endif
  
        // move up by the bump distance
        do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  
      #else
  
        // If the nozzle is above the travel height then
        // move down quickly before doing the slow probe
        float z = LOGICAL_Z_POSITION(Z_CLEARANCE_BETWEEN_PROBES);
        if (zprobe_zoffset < 0) z -= zprobe_zoffset;
        if (z < current_position[Z_AXIS])
          do_blocking_move_to_z(z, MMM_TO_MMS(Z_PROBE_SPEED_FAST));
  
      #endif
  
      // move down slowly to find bed
      do_probe_move(-(Z_MAX_LENGTH) - 10, Z_PROBE_SPEED_SLOW);
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS("<<< run_z_probe", current_position);
      #endif
  
      // Debug: compare probe heights
      #if ENABLED(PROBE_DOUBLE_TOUCH) && ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) {
          SERIAL_ECHOPAIR("2nd Probe Z:", current_position[Z_AXIS]);
          SERIAL_ECHOLNPAIR(" Discrepancy:", first_probe_z - current_position[Z_AXIS]);
        }
      #endif
      return current_position[Z_AXIS];
    }
  
    //
    // - Move to the given XY
    // - Deploy the probe, if not already deployed
    // - Probe the bed, get the Z position
    // - Depending on the 'stow' flag
    //   - Stow the probe, or
    //   - Raise to the BETWEEN height
    // - Return the probed Z position
    //
    static float probe_pt(const float &x, const float &y, bool stow = true, int verbose_level = 1) {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) {
          SERIAL_ECHOPAIR(">>> probe_pt(", x);
          SERIAL_ECHOPAIR(", ", y);
          SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
          SERIAL_ECHOLNPGM("stow)");
          DEBUG_POS("", current_position);
        }
      #endif
  
      float old_feedrate_mm_s = feedrate_mm_s;
  
      // Ensure a minimum height before moving the probe
      do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
  
      feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
  
      // Move the probe to the given XY
      do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
  
      if (DEPLOY_PROBE()) return NAN;
  
      float measured_z = run_z_probe();
  
      if (!stow)
        do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
      else
        if (STOW_PROBE()) return NAN;
  
      if (verbose_level > 2) {
        SERIAL_PROTOCOLPGM("Bed X: ");
        SERIAL_PROTOCOL_F(x, 3);
        SERIAL_PROTOCOLPGM(" Y: ");
        SERIAL_PROTOCOL_F(y, 3);
        SERIAL_PROTOCOLPGM(" Z: ");
        SERIAL_PROTOCOL_F(measured_z, 3);
        SERIAL_EOL;
      }
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< probe_pt");
      #endif
  
      feedrate_mm_s = old_feedrate_mm_s;
  
      return measured_z;
    }
  
  #endif // HAS_BED_PROBE
  
  #if PLANNER_LEVELING
    /**
     * Turn bed leveling on or off, fixing the current
     * position as-needed.
     *
     * Disable: Current position = physical position
     *  Enable: Current position = "unleveled" physical position
     */
    void set_bed_leveling_enabled(bool enable=true) {
      #if ENABLED(MESH_BED_LEVELING)
  
        if (enable != mbl.active()) {
  
          if (!enable)
            planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
  
          mbl.set_active(enable && mbl.has_mesh());
  
          if (enable) planner.unapply_leveling(current_position);
        }
  
      #elif HAS_ABL
  
        if (enable != planner.abl_enabled) {
          planner.abl_enabled = enable;
          if (!enable)
            set_current_from_steppers_for_axis(
              #if ABL_PLANAR
                ALL_AXES
              #else
                Z_AXIS
              #endif
            );
          else
            planner.unapply_leveling(current_position);
        }
  
      #endif
    }
  
    #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  
      void set_z_fade_height(const float zfh) {
        planner.z_fade_height = zfh;
        planner.inverse_z_fade_height = RECIPROCAL(zfh);
  
        if (
          #if ENABLED(MESH_BED_LEVELING)
            mbl.active()
          #else
            planner.abl_enabled
          #endif
        ) {
          set_current_from_steppers_for_axis(
            #if ABL_PLANAR
              ALL_AXES
            #else
              Z_AXIS
            #endif
          );
        }
      }
  
    #endif // LEVELING_FADE_HEIGHT
  
    /**
     * Reset calibration results to zero.
     */
    void reset_bed_level() {
      #if ENABLED(MESH_BED_LEVELING)
        if (mbl.has_mesh()) {
          set_bed_leveling_enabled(false);
          mbl.reset();
          mbl.set_has_mesh(false);
        }
      #else
        planner.abl_enabled = false;
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
        #endif
        #if ABL_PLANAR
          planner.bed_level_matrix.set_to_identity();
        #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
          for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++)
            for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++)
              bed_level_grid[x][y] = 1000.0;
        #endif
      #endif
    }
  
  #endif // PLANNER_LEVELING
  
  #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  
    /**
     * Extrapolate a single point from its neighbors
     */
    static void extrapolate_one_point(uint8_t x, uint8_t y, int8_t xdir, int8_t ydir) {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) {
          SERIAL_ECHOPGM("Extrapolate [");
          if (x < 10) SERIAL_CHAR(' ');
          SERIAL_ECHO((int)x);
          SERIAL_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' ');
          SERIAL_CHAR(' ');
          if (y < 10) SERIAL_CHAR(' ');
          SERIAL_ECHO((int)y);
          SERIAL_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' ');
          SERIAL_CHAR(']');
        }
      #endif
      if (bed_level_grid[x][y] < 999.0) {
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM(" (done)");
        #endif
        return;  // Don't overwrite good values.
      }
      SERIAL_EOL;
  
      // Get X neighbors, Y neighbors, and XY neighbors
      float a1 = bed_level_grid[x + xdir][y], a2 = bed_level_grid[x + xdir * 2][y],
            b1 = bed_level_grid[x][y + ydir], b2 = bed_level_grid[x][y + ydir * 2],
            c1 = bed_level_grid[x + xdir][y + ydir], c2 = bed_level_grid[x + xdir * 2][y + ydir * 2];
  
      // Treat far unprobed points as zero, near as equal to far
      if (a2 > 999.0) a2 = 0.0; if (a1 > 999.0) a1 = a2;
      if (b2 > 999.0) b2 = 0.0; if (b1 > 999.0) b1 = b2;
      if (c2 > 999.0) c2 = 0.0; if (c1 > 999.0) c1 = c2;
  
      float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2;
  
      // Take the average intstead of the median
      bed_level_grid[x][y] = (a + b + c) / 3.0;
  
      // Median is robust (ignores outliers).
      // bed_level_grid[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
      //                                : ((c < b) ? b : (a < c) ? a : c);
    }
  
    //Enable this if your SCARA uses 180° of total area
    //#define EXTRAPOLATE_FROM_EDGE
  
    #if ENABLED(EXTRAPOLATE_FROM_EDGE)
      #if ABL_GRID_POINTS_X < ABL_GRID_POINTS_Y
        #define HALF_IN_X
      #elif ABL_GRID_POINTS_Y < ABL_GRID_POINTS_X
        #define HALF_IN_Y
      #endif
    #endif
  
    /**
     * Fill in the unprobed points (corners of circular print surface)
     * using linear extrapolation, away from the center.
     */
    static void extrapolate_unprobed_bed_level() {
      #ifdef HALF_IN_X
        const uint8_t ctrx2 = 0, xlen = ABL_GRID_POINTS_X - 1;
      #else
        const uint8_t ctrx1 = (ABL_GRID_POINTS_X - 1) / 2, // left-of-center
                      ctrx2 = ABL_GRID_POINTS_X / 2,       // right-of-center
                      xlen = ctrx1;
      #endif
  
      #ifdef HALF_IN_Y
        const uint8_t ctry2 = 0, ylen = ABL_GRID_POINTS_Y - 1;
      #else
        const uint8_t ctry1 = (ABL_GRID_POINTS_Y - 1) / 2, // top-of-center
                      ctry2 = ABL_GRID_POINTS_Y / 2,       // bottom-of-center
                      ylen = ctry1;
      #endif
  
      for (uint8_t xo = 0; xo <= xlen; xo++)
        for (uint8_t yo = 0; yo <= ylen; yo++) {
          uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo;
          #ifndef HALF_IN_X
            uint8_t x1 = ctrx1 - xo;
          #endif
          #ifndef HALF_IN_Y
            uint8_t y1 = ctry1 - yo;
            #ifndef HALF_IN_X
              extrapolate_one_point(x1, y1, +1, +1);   //  left-below + +
            #endif
            extrapolate_one_point(x2, y1, -1, +1);     // right-below - +
          #endif
          #ifndef HALF_IN_X
            extrapolate_one_point(x1, y2, +1, -1);     //  left-above + -
          #endif
          extrapolate_one_point(x2, y2, -1, -1);       // right-above - -
        }
  
    }
  
    /**
     * Print calibration results for plotting or manual frame adjustment.
     */
    static void print_bed_level() {
      SERIAL_ECHOPGM("Bilinear Leveling Grid:\n ");
      for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
        SERIAL_PROTOCOLPGM("    ");
        if (x < 10) SERIAL_PROTOCOLCHAR(' ');
        SERIAL_PROTOCOL((int)x);
      }
      SERIAL_EOL;
      for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++) {
        if (y < 10) SERIAL_PROTOCOLCHAR(' ');
        SERIAL_PROTOCOL((int)y);
        for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++) {
          SERIAL_PROTOCOLCHAR(' ');
          float offset = bed_level_grid[x][y];
          if (offset < 999.0) {
            if (offset > 0) SERIAL_CHAR('+');
            SERIAL_PROTOCOL_F(offset, 2);
          }
          else
            SERIAL_PROTOCOLPGM(" ====");
        }
        SERIAL_EOL;
      }
      SERIAL_EOL;
    }
  
    #if ENABLED(ABL_BILINEAR_SUBDIVISION)
      #define ABL_GRID_POINTS_VIRT_X (ABL_GRID_POINTS_X - 1) * (BILINEAR_SUBDIVISIONS) + 1
      #define ABL_GRID_POINTS_VIRT_Y (ABL_GRID_POINTS_Y - 1) * (BILINEAR_SUBDIVISIONS) + 1
      float bed_level_grid_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
      float bed_level_grid_virt_temp[ABL_GRID_POINTS_X + 2][ABL_GRID_POINTS_Y + 2]; //temporary for calculation (maybe dynamical?)
      int bilinear_grid_spacing_virt[2] = { 0 };
  
      static void bed_level_virt_print() {
        SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
        for (uint8_t x = 0; x < ABL_GRID_POINTS_VIRT_X; x++) {
          SERIAL_PROTOCOLPGM("       ");
          if (x < 10) SERIAL_PROTOCOLCHAR(' ');
          SERIAL_PROTOCOL((int)x);
        }
        SERIAL_EOL;
        for (uint8_t y = 0; y < ABL_GRID_POINTS_VIRT_Y; y++) {
          if (y < 10) SERIAL_PROTOCOLCHAR(' ');
          SERIAL_PROTOCOL((int)y);
          for (uint8_t x = 0; x < ABL_GRID_POINTS_VIRT_X; x++) {
            SERIAL_PROTOCOLCHAR(' ');
            float offset = bed_level_grid_virt[x][y];
            if (offset < 999.0) {
              if (offset > 0) SERIAL_CHAR('+');
              SERIAL_PROTOCOL_F(offset, 5);
            }
            else
              SERIAL_PROTOCOLPGM(" ====");
          }
          SERIAL_EOL;
        }
        SERIAL_EOL;
      }
      #define LINEAR_EXTRAPOLATION(E, I) (E * 2 - I)
      static void bed_level_virt_prepare() {
        for (uint8_t y = 1; y <= ABL_GRID_POINTS_Y; y++) {
  
          for (uint8_t x = 1; x <= ABL_GRID_POINTS_X; x++)
            bed_level_grid_virt_temp[x][y] = bed_level_grid[x - 1][y - 1];
  
          bed_level_grid_virt_temp[0][y] = LINEAR_EXTRAPOLATION(
            bed_level_grid_virt_temp[1][y],
            bed_level_grid_virt_temp[2][y]
          );
  
          bed_level_grid_virt_temp[(ABL_GRID_POINTS_X + 2) - 1][y] =
            LINEAR_EXTRAPOLATION(
              bed_level_grid_virt_temp[(ABL_GRID_POINTS_X + 2) - 2][y],
              bed_level_grid_virt_temp[(ABL_GRID_POINTS_X + 2) - 3][y]
            );
        }
        for (uint8_t x = 0; x < ABL_GRID_POINTS_X + 2; x++) {
          bed_level_grid_virt_temp[x][0] = LINEAR_EXTRAPOLATION(
            bed_level_grid_virt_temp[x][1],
            bed_level_grid_virt_temp[x][2]
          );
          bed_level_grid_virt_temp[x][(ABL_GRID_POINTS_Y + 2) - 1] =
            LINEAR_EXTRAPOLATION(
              bed_level_grid_virt_temp[x][(ABL_GRID_POINTS_Y + 2) - 2],
              bed_level_grid_virt_temp[x][(ABL_GRID_POINTS_Y + 2) - 3]
            );
        }
      }
      static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) {
        return (
            p[i-1] * -t * sq(1 - t)
          + p[i]   * (2 - 5 * sq(t) + 3 * t * sq(t))
          + p[i+1] * t * (1 + 4 * t - 3 * sq(t))
          - p[i+2] * sq(t) * (1 - t)
        ) * 0.5;
      }
      static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
        float row[4], column[4];
        for (uint8_t i = 0; i < 4; i++) {
          for (uint8_t j = 0; j < 4; j++) // can be memcopy or through memory access
            column[j] = bed_level_grid_virt_temp[i + x - 1][j + y - 1];
          row[i] = bed_level_virt_cmr(column, 1, ty);
        }
        return bed_level_virt_cmr(row, 1, tx);
      }
      static void bed_level_virt_interpolate() {
        for (uint8_t y = 0; y < ABL_GRID_POINTS_Y; y++)
          for (uint8_t x = 0; x < ABL_GRID_POINTS_X; x++)
            for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
              for (uint8_t tx = 0; tx < BILINEAR_SUBDIVISIONS; tx++) {
                if ((ty && y == ABL_GRID_POINTS_Y - 1) || (tx && x == ABL_GRID_POINTS_X - 1))
                  continue;
                bed_level_grid_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] =
                  bed_level_virt_2cmr(
                    x + 1,
                    y + 1,
                    (float)tx / (BILINEAR_SUBDIVISIONS),
                    (float)ty / (BILINEAR_SUBDIVISIONS)
                  );
              }
      }
    #endif // ABL_BILINEAR_SUBDIVISION
  #endif // AUTO_BED_LEVELING_BILINEAR
  
  
  /**
   * Home an individual linear axis
   */
  static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
        SERIAL_ECHOPAIR(", ", distance);
        SERIAL_ECHOPAIR(", ", fr_mm_s);
        SERIAL_CHAR(')');
        SERIAL_EOL;
      }
    #endif
  
    #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
      bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
      if (deploy_bltouch) set_bltouch_deployed(true);
    #endif
  
    // Tell the planner we're at Z=0
    current_position[axis] = 0;
  
    #if IS_SCARA
      SYNC_PLAN_POSITION_KINEMATIC();
      current_position[axis] = distance;
      inverse_kinematics(current_position);
      planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
    #else
      sync_plan_position();
      current_position[axis] = distance;
      planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
    #endif
  
    stepper.synchronize();
  
    #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
      if (deploy_bltouch) set_bltouch_deployed(false);
    #endif
  
    endstops.hit_on_purpose();
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
        SERIAL_CHAR(')');
        SERIAL_EOL;
      }
    #endif
  }
  
  /**
   * Home an individual "raw axis" to its endstop.
   * This applies to XYZ on Cartesian and Core robots, and
   * to the individual ABC steppers on DELTA and SCARA.
   *
   * At the end of the procedure the axis is marked as
   * homed and the current position of that axis is updated.
   * Kinematic robots should wait till all axes are homed
   * before updating the current position.
   */
  
  #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
  
  static void homeaxis(AxisEnum axis) {
  
    #if IS_SCARA
      // Only Z homing (with probe) is permitted
      if (axis != Z_AXIS) { BUZZ(100, 880); return; }
    #else
      #define CAN_HOME(A) \
        (axis == A##_AXIS && ((A##_MIN_PIN > -1 && A##_HOME_DIR < 0) || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0)))
      if (!CAN_HOME(X) && !CAN_HOME(Y) && !CAN_HOME(Z)) return;
    #endif
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
        SERIAL_CHAR(')');
        SERIAL_EOL;
      }
    #endif
  
    int axis_home_dir =
      #if ENABLED(DUAL_X_CARRIAGE)
        (axis == X_AXIS) ? x_home_dir(active_extruder) :
      #endif
      home_dir(axis);
  
    // Homing Z towards the bed? Deploy the Z probe or endstop.
    #if HOMING_Z_WITH_PROBE
      if (axis == Z_AXIS && DEPLOY_PROBE()) return;
    #endif
  
    // Set a flag for Z motor locking
    #if ENABLED(Z_DUAL_ENDSTOPS)
      if (axis == Z_AXIS) stepper.set_homing_flag(true);
    #endif
  
    // Fast move towards endstop until triggered
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
    #endif
    do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
  
    // When homing Z with probe respect probe clearance
    const float bump = axis_home_dir * (
      #if HOMING_Z_WITH_PROBE
        (axis == Z_AXIS) ? max(Z_CLEARANCE_BETWEEN_PROBES, home_bump_mm(Z_AXIS)) :
      #endif
      home_bump_mm(axis)
    );
  
    // If a second homing move is configured...
    if (bump) {
      // Move away from the endstop by the axis HOME_BUMP_MM
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
      #endif
      do_homing_move(axis, -bump);
  
      // Slow move towards endstop until triggered
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
      #endif
      do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
    }
  
    #if ENABLED(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) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
  
        // Move to the adjusted endstop height
        do_homing_move(axis, adj);
  
        if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
        stepper.set_homing_flag(false);
      } // Z_AXIS
    #endif
  
    #if IS_SCARA
  
      set_axis_is_at_home(axis);
      SYNC_PLAN_POSITION_KINEMATIC();
  
    #elif ENABLED(DELTA)
  
      // Delta has already moved all three towers up in G28
      // so here it re-homes each tower in turn.
      // Delta homing treats the axes as normal linear axes.
  
      // retrace by the amount specified in endstop_adj
      if (endstop_adj[axis] * Z_HOME_DIR < 0) {
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
        #endif
        do_homing_move(axis, endstop_adj[axis]);
      }
  
    #else
  
      // For cartesian/core machines,
      // set the axis to its home position
      set_axis_is_at_home(axis);
      sync_plan_position();
  
      destination[axis] = current_position[axis];
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
      #endif
  
    #endif
  
    // Put away the Z probe
    #if HOMING_Z_WITH_PROBE
      if (axis == Z_AXIS && STOW_PROBE()) return;
    #endif
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
        SERIAL_CHAR(')');
        SERIAL_EOL;
      }
    #endif
  } // homeaxis()
  
  #if ENABLED(FWRETRACT)
  
    void retract(bool retracting, bool swapping = false) {
  
      if (retracting == retracted[active_extruder]) return;
  
      float old_feedrate_mm_s = feedrate_mm_s;
  
      set_destination_to_current();
  
      if (retracting) {
  
        feedrate_mm_s = retract_feedrate_mm_s;
        current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
        sync_plan_position_e();
        prepare_move_to_destination();
  
        if (retract_zlift > 0.01) {
          current_position[Z_AXIS] -= retract_zlift;
          SYNC_PLAN_POSITION_KINEMATIC();
          prepare_move_to_destination();
        }
      }
      else {
  
        if (retract_zlift > 0.01) {
          current_position[Z_AXIS] += retract_zlift;
          SYNC_PLAN_POSITION_KINEMATIC();
        }
  
        feedrate_mm_s = retract_recover_feedrate_mm_s;
        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];
        sync_plan_position_e();
        prepare_move_to_destination();
      }
  
      feedrate_mm_s = old_feedrate_mm_s;
      retracted[active_extruder] = retracting;
  
    } // retract()
  
  #endif // FWRETRACT
  
  #if ENABLED(MIXING_EXTRUDER)
  
    void normalize_mix() {
      float mix_total = 0.0;
      for (int i = 0; i < MIXING_STEPPERS; i++) mix_total += RECIPROCAL(mixing_factor[i]);
      // Scale all values if they don't add up to ~1.0
      if (!NEAR(mix_total, 1.0)) {
        SERIAL_PROTOCOLLNPGM("Warning: Mix factors must add up to 1.0. Scaling.");
        for (int i = 0; i < MIXING_STEPPERS; i++) mixing_factor[i] *= mix_total;
      }
    }
  
    #if ENABLED(DIRECT_MIXING_IN_G1)
      // Get mixing parameters from the GCode
      // The total "must" be 1.0 (but it will be normalized)
      // If no mix factors are given, the old mix is preserved
      void gcode_get_mix() {
        const char* mixing_codes = "ABCDHI";
        byte mix_bits = 0;
        for (uint8_t i = 0; i < MIXING_STEPPERS; i++) {
          if (code_seen(mixing_codes[i])) {
            SBI(mix_bits, i);
            float v = code_value_float();
            NOLESS(v, 0.0);
            mixing_factor[i] = RECIPROCAL(v);
          }
        }
        // If any mixing factors were included, clear the rest
        // If none were included, preserve the last mix
        if (mix_bits) {
          for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
            if (!TEST(mix_bits, i)) mixing_factor[i] = 0.0;
          normalize_mix();
        }
      }
    #endif
  
  #endif
  
  /**
   * ***************************************************************************
   * ***************************** G-CODE HANDLING *****************************
   * ***************************************************************************
   */
  
  /**
   * 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() {
    LOOP_XYZE(i) {
      if (code_seen(axis_codes[i]))
        destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
      else
        destination[i] = current_position[i];
    }
  
    if (code_seen('F') && code_value_linear_units() > 0.0)
      feedrate_mm_s = MMM_TO_MMS(code_value_linear_units());
  
    #if ENABLED(PRINTCOUNTER)
      if (!DEBUGGING(DRYRUN))
        print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]);
    #endif
  
    // Get ABCDHI mixing factors
    #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1)
      gcode_get_mix();
    #endif
  }
  
  void unknown_command_error() {
    SERIAL_ECHO_START;
    SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
    SERIAL_CHAR('"');
    SERIAL_EOL;
  }
  
  #if ENABLED(HOST_KEEPALIVE_FEATURE)
  
    /**
     * Output a "busy" message at regular intervals
     * while the machine is not accepting commands.
     */
    void host_keepalive() {
      millis_t ms = millis();
      if (host_keepalive_interval && busy_state != NOT_BUSY) {
        if (PENDING(ms, next_busy_signal_ms)) return;
        switch (busy_state) {
          case IN_HANDLER:
          case IN_PROCESS:
            SERIAL_ECHO_START;
            SERIAL_ECHOLNPGM(MSG_BUSY_PROCESSING);
            break;
          case PAUSED_FOR_USER:
            SERIAL_ECHO_START;
            SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_USER);
            break;
          case PAUSED_FOR_INPUT:
            SERIAL_ECHO_START;
            SERIAL_ECHOLNPGM(MSG_BUSY_PAUSED_FOR_INPUT);
            break;
          default:
            break;
        }
      }
      next_busy_signal_ms = ms + host_keepalive_interval * 1000UL;
    }
  
  #endif //HOST_KEEPALIVE_FEATURE
  
  bool position_is_reachable(float target[XYZ]
    #if HAS_BED_PROBE
      , bool by_probe=false
    #endif
  ) {
    float dx = RAW_X_POSITION(target[X_AXIS]),
          dy = RAW_Y_POSITION(target[Y_AXIS]);
  
    #if HAS_BED_PROBE
      if (by_probe) {
        dx -= X_PROBE_OFFSET_FROM_EXTRUDER;
        dy -= Y_PROBE_OFFSET_FROM_EXTRUDER;
      }
    #endif
  
    #if IS_SCARA
      #if MIDDLE_DEAD_ZONE_R > 0
        const float R2 = HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y);
        return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2);
      #else
        return HYPOT2(dx - SCARA_OFFSET_X, dy - SCARA_OFFSET_Y) <= sq(L1 + L2);
      #endif
    #elif ENABLED(DELTA)
      return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
    #else
      const float dz = RAW_Z_POSITION(target[Z_AXIS]);
      return dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001
          && dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001
          && dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001;
    #endif
  }
  
  /**************************************************
   ***************** GCode Handlers *****************
   **************************************************/
  
  /**
   * G0, G1: Coordinated movement of X Y Z E axes
   */
  inline void gcode_G0_G1(
    #if IS_SCARA
      bool fast_move=false
    #endif
  ) {
    if (IsRunning()) {
      gcode_get_destination(); // For X Y Z E F
  
      #if ENABLED(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
            sync_plan_position_e();  // AND from the planner
            retract(!retracted[active_extruder]);
            return;
          }
        }
  
      #endif //FWRETRACT
  
      #if IS_SCARA
        fast_move ? prepare_uninterpolated_move_to_destination() : prepare_move_to_destination();
      #else
        prepare_move_to_destination();
      #endif
    }
  }
  
  /**
   * G2: Clockwise Arc
   * G3: Counterclockwise Arc
   *
   * This command has two forms: IJ-form and R-form.
   *
   *  - I specifies an X offset. J specifies a Y offset.
   *    At least one of the IJ parameters is required.
   *    X and Y can be omitted to do a complete circle.
   *    The given XY is not error-checked. The arc ends
   *     based on the angle of the destination.
   *    Mixing I or J with R will throw an error.
   *
   *  - R specifies the radius. X or Y is required.
   *    Omitting both X and Y will throw an error.
   *    X or Y must differ from the current XY.
   *    Mixing R with I or J will throw an error.
   *
   *  Examples:
   *
   *    G2 I10           ; CW circle centered at X+10
   *    G3 X20 Y12 R14   ; CCW circle with r=14 ending at X20 Y12
   */
  #if ENABLED(ARC_SUPPORT)
    inline void gcode_G2_G3(bool clockwise) {
      if (IsRunning()) {
  
        #if ENABLED(SF_ARC_FIX)
          bool relative_mode_backup = relative_mode;
          relative_mode = true;
        #endif
  
        gcode_get_destination();
  
        #if ENABLED(SF_ARC_FIX)
          relative_mode = relative_mode_backup;
        #endif
  
        float arc_offset[2] = { 0.0, 0.0 };
        if (code_seen('R')) {
          const float r = code_value_axis_units(X_AXIS),
                      x1 = current_position[X_AXIS], y1 = current_position[Y_AXIS],
                      x2 = destination[X_AXIS], y2 = destination[Y_AXIS];
          if (r && (x2 != x1 || y2 != y1)) {
            const float e = clockwise ^ (r < 0) ? -1 : 1,           // clockwise -1/1, counterclockwise 1/-1
                        dx = x2 - x1, dy = y2 - y1,                 // X and Y differences
                        d = HYPOT(dx, dy),                          // Linear distance between the points
                        h = sqrt(sq(r) - sq(d * 0.5)),              // Distance to the arc pivot-point
                        mx = (x1 + x2) * 0.5, my = (y1 + y2) * 0.5, // Point between the two points
                        sx = -dy / d, sy = dx / d,                  // Slope of the perpendicular bisector
                        cx = mx + e * h * sx, cy = my + e * h * sy; // Pivot-point of the arc
            arc_offset[X_AXIS] = cx - x1;
            arc_offset[Y_AXIS] = cy - y1;
          }
        }
        else {
          if (code_seen('I')) arc_offset[X_AXIS] = code_value_axis_units(X_AXIS);
          if (code_seen('J')) arc_offset[Y_AXIS] = code_value_axis_units(Y_AXIS);
        }
  
        if (arc_offset[0] || arc_offset[1]) {
          // Send an arc to the planner
          plan_arc(destination, arc_offset, clockwise);
          refresh_cmd_timeout();
        }
        else {
          // Bad arguments
          SERIAL_ERROR_START;
          SERIAL_ERRORLNPGM(MSG_ERR_ARC_ARGS);
        }
      }
    }
  #endif
  
  /**
   * G4: Dwell S<seconds> or P<milliseconds>
   */
  inline void gcode_G4() {
    millis_t dwell_ms = 0;
  
    if (code_seen('P')) dwell_ms = code_value_millis(); // milliseconds to wait
    if (code_seen('S')) dwell_ms = code_value_millis_from_seconds(); // seconds to wait
  
    stepper.synchronize();
    refresh_cmd_timeout();
    dwell_ms += previous_cmd_ms;  // keep track of when we started waiting
  
    if (!lcd_hasstatus()) LCD_MESSAGEPGM(MSG_DWELL);
  
    while (PENDING(millis(), dwell_ms)) idle();
  }
  
  #if ENABLED(BEZIER_CURVE_SUPPORT)
  
    /**
     * Parameters interpreted according to:
     * http://linuxcnc.org/docs/2.6/html/gcode/gcode.html#sec:G5-Cubic-Spline
     * However I, J omission is not supported at this point; all
     * parameters can be omitted and default to zero.
     */
  
    /**
     * G5: Cubic B-spline
     */
    inline void gcode_G5() {
      if (IsRunning()) {
  
        gcode_get_destination();
  
        float offset[] = {
          code_seen('I') ? code_value_axis_units(X_AXIS) : 0.0,
          code_seen('J') ? code_value_axis_units(Y_AXIS) : 0.0,
          code_seen('P') ? code_value_axis_units(X_AXIS) : 0.0,
          code_seen('Q') ? code_value_axis_units(Y_AXIS) : 0.0
        };
  
        plan_cubic_move(offset);
      }
    }
  
  #endif // BEZIER_CURVE_SUPPORT
  
  #if ENABLED(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_bool()); // checks for swap retract argument
        }
      #endif
      retract(doRetract
       #if EXTRUDERS > 1
        , retracted_swap[active_extruder]
       #endif
      );
    }
  
  #endif //FWRETRACT
  
  #if ENABLED(NOZZLE_CLEAN_FEATURE)
    /**
     * G12: Clean the nozzle
     */
    inline void gcode_G12() {
      // Don't allow nozzle cleaning without homing first
      if (axis_unhomed_error(true, true, true)) { return; }
  
      uint8_t const pattern = code_seen('P') ? code_value_ushort() : 0;
      uint8_t const strokes = code_seen('S') ? code_value_ushort() : NOZZLE_CLEAN_STROKES;
      uint8_t const objects = code_seen('T') ? code_value_ushort() : 3;
  
      Nozzle::clean(pattern, strokes, objects);
    }
  #endif
  
  #if ENABLED(INCH_MODE_SUPPORT)
    /**
     * G20: Set input mode to inches
     */
    inline void gcode_G20() { set_input_linear_units(LINEARUNIT_INCH); }
  
    /**
     * G21: Set input mode to millimeters
     */
    inline void gcode_G21() { set_input_linear_units(LINEARUNIT_MM); }
  #endif
  
  #if ENABLED(NOZZLE_PARK_FEATURE)
    /**
     * G27: Park the nozzle
     */
    inline void gcode_G27() {
      // Don't allow nozzle parking without homing first
      if (axis_unhomed_error(true, true, true)) { return; }
      uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0;
      Nozzle::park(z_action);
    }
  #endif // NOZZLE_PARK_FEATURE
  
  #if ENABLED(QUICK_HOME)
  
    static void quick_home_xy() {
  
      // Pretend the current position is 0,0
      current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
      sync_plan_position();
  
      int x_axis_home_dir =
        #if ENABLED(DUAL_X_CARRIAGE)
          x_home_dir(active_extruder)
        #else
          home_dir(X_AXIS)
        #endif
      ;
  
      float mlx = max_length(X_AXIS),
            mly = max_length(Y_AXIS),
            mlratio = mlx > mly ? mly / mlx : mlx / mly,
            fr_mm_s = min(homing_feedrate_mm_s[X_AXIS], homing_feedrate_mm_s[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
  
      do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_s);
      endstops.hit_on_purpose(); // clear endstop hit flags
      current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
  
    }
  
  #endif // QUICK_HOME
  
  #if ENABLED(DEBUG_LEVELING_FEATURE)
  
    void log_machine_info() {
      SERIAL_ECHOPGM("Machine Type: ");
      #if ENABLED(DELTA)
        SERIAL_ECHOLNPGM("Delta");
      #elif IS_SCARA
        SERIAL_ECHOLNPGM("SCARA");
      #elif IS_CORE
        SERIAL_ECHOLNPGM("Core");
      #else
        SERIAL_ECHOLNPGM("Cartesian");
      #endif
  
      SERIAL_ECHOPGM("Probe: ");
      #if ENABLED(FIX_MOUNTED_PROBE)
        SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
      #elif ENABLED(BLTOUCH)
        SERIAL_ECHOLNPGM("BLTOUCH");
      #elif HAS_Z_SERVO_ENDSTOP
        SERIAL_ECHOLNPGM("SERVO PROBE");
      #elif ENABLED(Z_PROBE_SLED)
        SERIAL_ECHOLNPGM("Z_PROBE_SLED");
      #elif ENABLED(Z_PROBE_ALLEN_KEY)
        SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
      #else
        SERIAL_ECHOLNPGM("NONE");
      #endif
  
      #if HAS_BED_PROBE
        SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
        SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
        SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
        #if (X_PROBE_OFFSET_FROM_EXTRUDER > 0)
          SERIAL_ECHOPGM(" (Right");
        #elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
          SERIAL_ECHOPGM(" (Left");
        #elif (Y_PROBE_OFFSET_FROM_EXTRUDER != 0)
          SERIAL_ECHOPGM(" (Middle");
        #else
          SERIAL_ECHOPGM(" (Aligned With");
        #endif
        #if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
          SERIAL_ECHOPGM("-Back");
        #elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
          SERIAL_ECHOPGM("-Front");
        #elif (X_PROBE_OFFSET_FROM_EXTRUDER != 0)
          SERIAL_ECHOPGM("-Center");
        #endif
        if (zprobe_zoffset < 0)
          SERIAL_ECHOPGM(" & Below");
        else if (zprobe_zoffset > 0)
          SERIAL_ECHOPGM(" & Above");
        else
          SERIAL_ECHOPGM(" & Same Z as");
        SERIAL_ECHOLNPGM(" Nozzle)");
      #endif
  
      #if HAS_ABL
        SERIAL_ECHOPGM("Auto Bed Leveling: ");
        #if ENABLED(AUTO_BED_LEVELING_LINEAR)
          SERIAL_ECHOPGM("LINEAR");
        #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
          SERIAL_ECHOPGM("BILINEAR");
        #elif ENABLED(AUTO_BED_LEVELING_3POINT)
          SERIAL_ECHOPGM("3POINT");
        #endif
        if (planner.abl_enabled) {
          SERIAL_ECHOLNPGM(" (enabled)");
          #if ENABLED(AUTO_BED_LEVELING_LINEAR) || ENABLED(AUTO_BED_LEVELING_3POINT)
            float diff[XYZ] = {
              stepper.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
              stepper.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
              stepper.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
            };
            SERIAL_ECHOPGM("ABL Adjustment X");
            if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
            SERIAL_ECHO(diff[X_AXIS]);
            SERIAL_ECHOPGM(" Y");
            if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
            SERIAL_ECHO(diff[Y_AXIS]);
            SERIAL_ECHOPGM(" Z");
            if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
            SERIAL_ECHO(diff[Z_AXIS]);
          #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
            SERIAL_ECHOPAIR("ABL Adjustment Z", bilinear_z_offset(current_position));
          #endif
        }
        SERIAL_EOL;
      #elif ENABLED(MESH_BED_LEVELING)
        SERIAL_ECHOPGM("Mesh Bed Leveling");
        if (mbl.active()) {
          float lz = current_position[Z_AXIS];
          planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], lz);
          SERIAL_ECHOLNPGM(" (enabled)");
          SERIAL_ECHOPAIR("MBL Adjustment Z", lz);
        }
        SERIAL_EOL;
      #endif
  
    }
  
  #endif // DEBUG_LEVELING_FEATURE
  
  #if ENABLED(DELTA)
  
    /**
     * A delta can only safely home all axes at the same time
     * This is like quick_home_xy() but for 3 towers.
     */
    inline void home_delta() {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
      #endif
      // Init the current position of all carriages to 0,0,0
      ZERO(current_position);
      sync_plan_position();
  
      // Move all carriages together linearly until an endstop is hit.
      current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
      feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
      line_to_current_position();
      stepper.synchronize();
      endstops.hit_on_purpose(); // clear endstop hit flags
  
      // At least one carriage has reached the top.
      // Now re-home each carriage separately.
      HOMEAXIS(A);
      HOMEAXIS(B);
      HOMEAXIS(C);
  
      // Set all carriages to their home positions
      // Do this here all at once for Delta, because
      // XYZ isn't ABC. Applying this per-tower would
      // give the impression that they are the same.
      LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
  
      SYNC_PLAN_POSITION_KINEMATIC();
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
      #endif
    }
  
  #endif // DELTA
  
  #if ENABLED(Z_SAFE_HOMING)
  
    inline void home_z_safely() {
  
      // Disallow Z homing if X or Y are unknown
      if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
        LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
        SERIAL_ECHO_START;
        SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
        return;
      }
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
      #endif
  
      SYNC_PLAN_POSITION_KINEMATIC();
  
      /**
       * Move the Z probe (or just the nozzle) to the safe homing point
       */
      destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
      destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
      destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
  
      if (position_is_reachable(
            destination
            #if HOMING_Z_WITH_PROBE
              , true
            #endif
          )
      ) {
  
        #if HOMING_Z_WITH_PROBE
          destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
          destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
        #endif
  
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
        #endif
  
        // This causes the carriage on Dual X to unpark
        #if ENABLED(DUAL_X_CARRIAGE)
          active_extruder_parked = false;
        #endif
  
        do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
        HOMEAXIS(Z);
      }
      else {
        LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
        SERIAL_ECHO_START;
        SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
      }
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
      #endif
    }
  
  #endif // Z_SAFE_HOMING
  
  /**
   * 手动填充G29自动调平是填充的参数
   * 
   */
  #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
   void fill_Para_About_Leveling(void)
   {
    if ( 0!= bilinear_grid_spacing[X_AXIS]
      && 0 != bilinear_grid_spacing[Y_AXIS]
      && 0 != bilinear_start[X_AXIS]
      && 0 != bilinear_start[Y_AXIS]
       ) 
    {
     return;
    }
    int left_probe_bed_position = LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION),
            right_probe_bed_position = LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION),
            front_probe_bed_position = LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION),
            back_probe_bed_position = LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
  
  
        bilinear_grid_spacing[X_AXIS] = (right_probe_bed_position - left_probe_bed_position) / (ABL_GRID_POINTS_X - 1);
        bilinear_grid_spacing[Y_AXIS] = (back_probe_bed_position - front_probe_bed_position) / (ABL_GRID_POINTS_Y - 1);
        
        bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
        bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);     
  
    
   }
  #endif
   
  /**
   * 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() {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOLNPGM(">>> gcode_G28");
        log_machine_info();
      }
    #endif
  
    // Wait for planner moves to finish!
    stepper.synchronize();
  
    // For auto bed leveling, clear the level matrix
    #if HAS_ABL
      //reset_bed_level();
    #endif
  
    // Always home with tool 0 active
    #if HOTENDS > 1
      uint8_t old_tool_index = active_extruder;
      tool_change(0, 0, true);
    #endif
  
    #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
      extruder_duplication_enabled = false;
    #endif
  
    /**
     * For mesh bed leveling deactivate the mesh calculations, will be turned
     * on again when homing all axis
     */
    #if ENABLED(MESH_BED_LEVELING)
      float pre_home_z = MESH_HOME_SEARCH_Z;
      if (mbl.active()) {
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL was active");
        #endif
        // Use known Z position if already homed
        if (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) {
          set_bed_leveling_enabled(false);
          pre_home_z = current_position[Z_AXIS];
        }
        else {
          mbl.set_active(false);
          current_position[Z_AXIS] = pre_home_z;
        }
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) DEBUG_POS("Set Z to pre_home_z", current_position);
        #endif
      }
    #endif
  
    setup_for_endstop_or_probe_move();
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(true)");
    #endif
    endstops.enable(true); // Enable endstops for next homing move
  
    #if ENABLED(DELTA)
  
      home_delta();
  
    #else // NOT DELTA
  
      bool homeX = code_seen('X'), homeY = code_seen('Y'), homeZ = code_seen('Z');
  
      home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);
  
      set_destination_to_current();
  
      #if Z_HOME_DIR > 0  // If homing away from BED do Z first
  
        if (home_all_axis || homeZ) {
          HOMEAXIS(Z);
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("> HOMEAXIS(Z)", current_position);
          #endif
        }
  
      #else
  
        if (home_all_axis || homeX || homeY) {
          // Raise Z before homing any other axes and z is not already high enough (never lower z)
          destination[Z_AXIS] = LOGICAL_Z_POSITION(Z_HOMING_HEIGHT);
          if (destination[Z_AXIS] > current_position[Z_AXIS]) {
  
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(LEVELING))
                SERIAL_ECHOLNPAIR("Raise Z (before homing) to ", destination[Z_AXIS]);
            #endif
  
            do_blocking_move_to_z(destination[Z_AXIS]);
          }
        }
  
      #endif
  
      #if ENABLED(QUICK_HOME)
  
        if (home_all_axis || (homeX && homeY)) quick_home_xy();
  
      #endif
  
      #if ENABLED(HOME_Y_BEFORE_X)
  
        // Home Y
        if (home_all_axis || homeY) {
          HOMEAXIS(Y);
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
          #endif
        }
  
      #endif
  
      // Home X
      if (home_all_axis || homeX) {
  
        #if ENABLED(DUAL_X_CARRIAGE)
  
          // Always home the 2nd (right) extruder first
          active_extruder = 1;
          HOMEAXIS(X);
  
          // Remember this extruder's position for later tool change
          inactive_extruder_x_pos = RAW_X_POSITION(current_position[X_AXIS]);
  
          // Home the 1st (left) extruder
          active_extruder = 0;
          HOMEAXIS(X);
  
          // Consider the active extruder to be parked
          memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
          delayed_move_time = 0;
          active_extruder_parked = true;
  
        #else
  
          HOMEAXIS(X);
  
        #endif
  
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) DEBUG_POS("> homeX", current_position);
        #endif
      }
  
      #if DISABLED(HOME_Y_BEFORE_X)
        // Home Y
        if (home_all_axis || homeY) {
          HOMEAXIS(Y);
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("> homeY", current_position);
          #endif
        }
      #endif
  
      // Home Z last if homing towards the bed
      #if Z_HOME_DIR < 0
        if (home_all_axis || homeZ) {
          #if ENABLED(Z_SAFE_HOMING)
            home_z_safely();
          #else
            HOMEAXIS(Z);
          #endif
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
          #endif
        } // home_all_axis || homeZ
      #endif // Z_HOME_DIR < 0
  
      SYNC_PLAN_POSITION_KINEMATIC();
  
    #endif // !DELTA (gcode_G28)
  
    endstops.not_homing();
  
    #if ENABLED(DELTA) && ENABLED(DELTA_HOME_TO_SAFE_ZONE)
      // move to a height where we can use the full xy-area
      do_blocking_move_to_z(delta_clip_start_height);
    #endif
  
    // Enable mesh leveling again
    #if ENABLED(MESH_BED_LEVELING)
      if (mbl.has_mesh()) {
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL has mesh");
        #endif
        if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("MBL Z homing");
          #endif
          current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
            #if Z_HOME_DIR > 0
              + Z_MAX_POS
            #endif
          ;
          SYNC_PLAN_POSITION_KINEMATIC();
          mbl.set_active(true);
          #if ENABLED(MESH_G28_REST_ORIGIN)
            current_position[Z_AXIS] = 0.0;
            set_destination_to_current();
            line_to_destination(homing_feedrate_mm_s[Z_AXIS]);
            stepper.synchronize();
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
            #endif
          #else
            planner.unapply_leveling(current_position);
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
            #endif
          #endif
        }
        else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
          current_position[Z_AXIS] = pre_home_z;
          SYNC_PLAN_POSITION_KINEMATIC();
          mbl.set_active(true);
          planner.unapply_leveling(current_position);
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
          #endif
        }
      }
    #endif
  
    clean_up_after_endstop_or_probe_move();
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G28");
    #endif
  
    // Restore the active tool after homing
    #if HOTENDS > 1
      tool_change(old_tool_index, 0, true);
    #endif
  
    report_current_position();
  
    
  #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
    if(!planner.abl_enabled)
    {
      char x=0,y=0;
        readLevelingPara();
        for( x=0;x<ABL_GRID_POINTS_X;x++)
        {
          for( y=0;y<ABL_GRID_POINTS_Y;y++)
          {
            if(bed_level_grid[x][y]<100.0&&bed_level_grid[x][y]>-100.0)
            {            
            }
            else
             return;
          }
        }
    }
  
    
    planner.abl_enabled=true;
    fill_Para_About_Leveling();
    current_position[Z_AXIS] -= bilinear_z_offset(current_position);
    SYNC_PLAN_POSITION_KINEMATIC();
  
  #endif
  
  }
  
  #if HAS_PROBING_PROCEDURE
  
    void out_of_range_error(const char* p_edge) {
      SERIAL_PROTOCOLPGM("?Probe ");
      serialprintPGM(p_edge);
      SERIAL_PROTOCOLLNPGM(" position out of range.");
    }
  
  #endif
  
  #if ENABLED(MESH_BED_LEVELING)
  
    inline void _mbl_goto_xy(float x, float y) {
      float old_feedrate_mm_s = feedrate_mm_s;
      feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
  
      current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
        #if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
          + Z_CLEARANCE_BETWEEN_PROBES
        #elif Z_HOMING_HEIGHT > 0
          + Z_HOMING_HEIGHT
        #endif
      ;
      line_to_current_position();
  
      feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED);
      current_position[X_AXIS] = LOGICAL_X_POSITION(x);
      current_position[Y_AXIS] = LOGICAL_Y_POSITION(y);
      line_to_current_position();
  
      #if Z_CLEARANCE_BETWEEN_PROBES > 0 || Z_HOMING_HEIGHT > 0
        feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
        current_position[Z_AXIS] = LOGICAL_Z_POSITION(MESH_HOME_SEARCH_Z);
        line_to_current_position();
      #endif
  
      feedrate_mm_s = old_feedrate_mm_s;
      stepper.synchronize();
    }
  
    // Save 130 bytes with non-duplication of PSTR
    void say_not_entered() { SERIAL_PROTOCOLLNPGM(" not entered."); }
  
    /**
     * G29: Mesh-based Z probe, probes a grid and produces a
     *      mesh to compensate for variable bed height
     *
     * Parameters With MESH_BED_LEVELING:
     *
     *  S0              Produce a mesh report
     *  S1              Start probing mesh points
     *  S2              Probe the next mesh point
     *  S3 Xn Yn Zn.nn  Manually modify a single point
     *  S4 Zn.nn        Set z offset. Positive away from bed, negative closer to bed.
     *  S5              Reset and disable mesh
     *
     * The S0 report the points as below
     *
     *  +----> X-axis  1-n
     *  |
     *  |
     *  v Y-axis  1-n
     *
     */
    inline void gcode_G29() {
  
      static int probe_point = -1;
      MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_byte() : MeshReport;
      if (state < 0 || state > 5) {
        SERIAL_PROTOCOLLNPGM("S out of range (0-5).");
        return;
      }
  
      int8_t px, py;
  
      switch (state) {
        case MeshReport:
          if (mbl.has_mesh()) {
            SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
            SERIAL_PROTOCOLLNPGM("\nNum X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS));
            SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z));
            SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
            SERIAL_PROTOCOLLNPGM("\nMeasured points:");
            for (py = 0; py < MESH_NUM_Y_POINTS; py++) {
              for (px = 0; px < MESH_NUM_X_POINTS; px++) {
                SERIAL_PROTOCOLPGM("  ");
                SERIAL_PROTOCOL_F(mbl.z_values[py][px], 5);
              }
              SERIAL_EOL;
            }
          }
          else
            SERIAL_PROTOCOLLNPGM("Mesh bed leveling not active.");
          break;
  
        case MeshStart:
          mbl.reset();
          probe_point = 0;
          enqueue_and_echo_commands_P(PSTR("G28\nG29 S2"));
          break;
  
        case MeshNext:
          if (probe_point < 0) {
            SERIAL_PROTOCOLLNPGM("Start mesh probing with \"G29 S1\" first.");
            return;
          }
          // For each G29 S2...
          if (probe_point == 0) {
            // For the initial G29 S2 make Z a positive value (e.g., 4.0)
            current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
              #if Z_HOME_DIR > 0
                + Z_MAX_POS
              #endif
            ;
            SYNC_PLAN_POSITION_KINEMATIC();
          }
          else {
            // For G29 S2 after adjusting Z.
            mbl.set_zigzag_z(probe_point - 1, current_position[Z_AXIS]);
          }
          // If there's another point to sample, move there with optional lift.
          if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
            mbl.zigzag(probe_point, px, py);
            _mbl_goto_xy(mbl.get_probe_x(px), mbl.get_probe_y(py));
            probe_point++;
          }
          else {
            // One last "return to the bed" (as originally coded) at completion
            current_position[Z_AXIS] = MESH_HOME_SEARCH_Z
              #if Z_CLEARANCE_BETWEEN_PROBES > Z_HOMING_HEIGHT
                + Z_CLEARANCE_BETWEEN_PROBES
              #elif Z_HOMING_HEIGHT > 0
                + Z_HOMING_HEIGHT
              #endif
            ;
            line_to_current_position();
            stepper.synchronize();
  
            // After recording the last point, activate the mbl and home
            SERIAL_PROTOCOLLNPGM("Mesh probing done.");
            probe_point = -1;
            mbl.set_has_mesh(true);
            enqueue_and_echo_commands_P(PSTR("G28"));
          }
          break;
  
        case MeshSet:
          if (code_seen('X')) {
            px = code_value_int() - 1;
            if (px < 0 || px >= MESH_NUM_X_POINTS) {
              SERIAL_PROTOCOLLNPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").");
              return;
            }
          }
          else {
            SERIAL_CHAR('X'); say_not_entered();
            return;
          }
  
          if (code_seen('Y')) {
            py = code_value_int() - 1;
            if (py < 0 || py >= MESH_NUM_Y_POINTS) {
              SERIAL_PROTOCOLLNPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").");
              return;
            }
          }
          else {
            SERIAL_CHAR('Y'); say_not_entered();
            return;
          }
  
          if (code_seen('Z')) {
            mbl.z_values[py][px] = code_value_axis_units(Z_AXIS);
          }
          else {
            SERIAL_CHAR('Z'); say_not_entered();
            return;
          }
          break;
  
        case MeshSetZOffset:
          if (code_seen('Z')) {
            mbl.z_offset = code_value_axis_units(Z_AXIS);
          }
          else {
            SERIAL_CHAR('Z'); say_not_entered();
            return;
          }
          break;
  
        case MeshReset:
          if (mbl.active()) {
            current_position[Z_AXIS] -= MESH_HOME_SEARCH_Z;
            planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
            mbl.reset();
            SYNC_PLAN_POSITION_KINEMATIC();
          }
          else
            mbl.reset();
  
      } // switch(state)
  
      report_current_position();
       
    }
  
  #elif HAS_ABL
  
    /**
     * 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 ABL_GRID:
     *
     *  P  Set the size of the grid that will be probed (P x P points).
     *     Not supported by non-linear delta printer bed leveling.
     *     Example: "G29 P4"
     *
     *  S  Set the XY travel speed between probe points (in units/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).
     *     Not supported by non-linear delta printer bed leveling.
     *
     *  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 Z probe, test the bed, then disengage.
     *     Include "E" to engage/disengage the Z probe for each sample.
     *     There's no extra effect if you have a fixed Z probe.
     *     Usage: "G29 E" or "G29 e"
     *
     */
    inline void gcode_G29() {
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        bool query = code_seen('Q');
        uint8_t old_debug_flags = marlin_debug_flags;
        if (query) marlin_debug_flags |= DEBUG_LEVELING;
        if (DEBUGGING(LEVELING)) {
          DEBUG_POS(">>> gcode_G29", current_position);
          log_machine_info();
        }
        marlin_debug_flags = old_debug_flags;
        if (query) return;
      #endif
  
      // Don't allow auto-leveling without homing first
      if (axis_unhomed_error(true, true, true)) return;
  
      int verbose_level = code_seen('V') ? code_value_int() : 1;
      if (verbose_level < 0 || verbose_level > 4) {
        SERIAL_PROTOCOLLNPGM("?(V)erbose Level is implausible (0-4).");
        return;
      }
  
      bool dryrun = code_seen('D'),
           stow_probe_after_each = code_seen('E');
  
      #if ABL_GRID
  
        if (verbose_level > 0) {
          SERIAL_PROTOCOLLNPGM("G29 Auto Bed Leveling");
          if (dryrun) SERIAL_PROTOCOLLNPGM("Running in DRY-RUN mode");
        }
  
        #if ABL_PLANAR
  
          bool do_topography_map = verbose_level > 2 || code_seen('T');
  
          // X and Y specify points in each direction, overriding the default
          // These values may be saved with the completed mesh
          int abl_grid_points_x = code_seen('X') ? code_value_int() : ABL_GRID_POINTS_X,
              abl_grid_points_y = code_seen('Y') ? code_value_int() : ABL_GRID_POINTS_Y;
  
          if (code_seen('P')) abl_grid_points_x = abl_grid_points_y = code_value_int();
  
          if (abl_grid_points_x < 2 || abl_grid_points_y < 2) {
            SERIAL_PROTOCOLLNPGM("?Number of probe points is implausible (2 minimum).");
            return;
          }
  
        #else
  
           const int abl_grid_points_x = ABL_GRID_POINTS_X, abl_grid_points_y = ABL_GRID_POINTS_Y;
  
        #endif
  
        xy_probe_feedrate_mm_s = MMM_TO_MMS(code_seen('S') ? code_value_linear_units() : XY_PROBE_SPEED);
  
        int left_probe_bed_position = code_seen('L') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(LEFT_PROBE_BED_POSITION),
            right_probe_bed_position = code_seen('R') ? (int)code_value_axis_units(X_AXIS) : LOGICAL_X_POSITION(RIGHT_PROBE_BED_POSITION),
            front_probe_bed_position = code_seen('F') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(FRONT_PROBE_BED_POSITION),
            back_probe_bed_position = code_seen('B') ? (int)code_value_axis_units(Y_AXIS) : LOGICAL_Y_POSITION(BACK_PROBE_BED_POSITION);
  
        bool left_out_l = left_probe_bed_position < LOGICAL_X_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 > LOGICAL_X_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 < LOGICAL_Y_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 > LOGICAL_Y_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 ? LOGICAL_X_POSITION(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 ? LOGICAL_Y_POSITION(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 ? LOGICAL_Y_POSITION(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 ? LOGICAL_Y_POSITION(MAX_PROBE_Y) : front_probe_bed_position + MIN_PROBE_EDGE;
          }
          return;
        }
  
      #endif // ABL_GRID
  
      stepper.synchronize();
  
      // Disable auto bed leveling during G29
      bool abl_should_enable = planner.abl_enabled;
  
      planner.abl_enabled = false;
  
      if (!dryrun) {
        // Re-orient the current position without leveling
        // based on where the steppers are positioned.
        set_current_from_steppers_for_axis(ALL_AXES);
  
        // Sync the planner to where the steppers stopped
        SYNC_PLAN_POSITION_KINEMATIC();
      }
  
      setup_for_endstop_or_probe_move();
  
      // Deploy the probe. Probe will raise if needed.
      if (DEPLOY_PROBE()) {
        planner.abl_enabled = abl_should_enable;
        return;
      }
  
      float xProbe = 0, yProbe = 0, measured_z = 0;
  
      #if ABL_GRID
  
        // probe at the points of a lattice grid
        const float xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (abl_grid_points_x - 1),
                    yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (abl_grid_points_y - 1);
  
        #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  
          float zoffset = zprobe_zoffset;
          if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
  
          if ( xGridSpacing != bilinear_grid_spacing[X_AXIS]
            || yGridSpacing != bilinear_grid_spacing[Y_AXIS]
            || left_probe_bed_position != bilinear_start[X_AXIS]
            || front_probe_bed_position != bilinear_start[Y_AXIS]
          ) {
            reset_bed_level();
            #if ENABLED(ABL_BILINEAR_SUBDIVISION)
              bilinear_grid_spacing_virt[X_AXIS] = xGridSpacing / (BILINEAR_SUBDIVISIONS);
              bilinear_grid_spacing_virt[Y_AXIS] = yGridSpacing / (BILINEAR_SUBDIVISIONS);
            #endif
            bilinear_grid_spacing[X_AXIS] = xGridSpacing;
            bilinear_grid_spacing[Y_AXIS] = yGridSpacing;
            bilinear_start[X_AXIS] = RAW_X_POSITION(left_probe_bed_position);
            bilinear_start[Y_AXIS] = RAW_Y_POSITION(front_probe_bed_position);
            // Can't re-enable (on error) until the new grid is written
            abl_should_enable = false;
          }
  
        #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  
          /**
           * 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 = abl_grid_points_x * abl_grid_points_y,
              indexIntoAB[abl_grid_points_x][abl_grid_points_y],
              probePointCounter = -1;
  
          float eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
                eqnBVector[abl2],     // "B" vector of Z points
                mean = 0.0;
  
        #endif // AUTO_BED_LEVELING_LINEAR
  
        #if ENABLED(PROBE_Y_FIRST)
          #define PR_OUTER_VAR xCount
          #define PR_OUTER_END abl_grid_points_x
          #define PR_INNER_VAR yCount
          #define PR_INNER_END abl_grid_points_y
        #else
          #define PR_OUTER_VAR yCount
          #define PR_OUTER_END abl_grid_points_y
          #define PR_INNER_VAR xCount
          #define PR_INNER_END abl_grid_points_x
        #endif
  
        bool zig = PR_OUTER_END & 1;  // Always end at RIGHT and BACK_PROBE_BED_POSITION
         
  
   
   destination[X_AXIS]=0;
   destination[Y_AXIS]=0;
   destination[Z_AXIS]=MANUAL_Z_HOME_POS-100;
   
   prepare_move_to_destination();
  
  
        
        for (uint8_t PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_END; PR_OUTER_VAR++) {
  
          int8_t inStart, inStop, inInc;
  
          if (zig) { // away from origin
            inStart = 0;
            inStop = PR_INNER_END;
            inInc = 1;
          }
          else {     // towards origin
            inStart = PR_INNER_END - 1;
            inStop = -1;
            inInc = -1;
          }
  
          zig = !zig; // zag
    
          // Inner loop is Y with PROBE_Y_FIRST enabled
          for (int8_t PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc) {
  
            float xBase = left_probe_bed_position + xGridSpacing * xCount,      //left_probe_bed_position
                  yBase = front_probe_bed_position + yGridSpacing * yCount;      //front_probe_bed_position
  
            xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
            yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
  
            #if ENABLED(AUTO_BED_LEVELING_LINEAR)
              indexIntoAB[xCount][yCount] = ++probePointCounter;
            #endif
  
            #if IS_KINEMATIC
              // Avoid probing outside the round or hexagonal area
              float pos[XYZ] = { xProbe, yProbe, 0 };
              if (!position_is_reachable(pos, true)) continue;
            #endif
  
            measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
  
            if (measured_z == NAN) {
              planner.abl_enabled = abl_should_enable;
              return;
            }
  
            #if ENABLED(AUTO_BED_LEVELING_LINEAR)
  
              mean += measured_z;
              eqnBVector[probePointCounter] = measured_z;
              eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
              eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
              eqnAMatrix[probePointCounter + 2 * abl2] = 1;
  
            #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  
              bed_level_grid[xCount][yCount] = measured_z + zoffset;
  
            #endif
  
            idle();
  
          } //xProbe
        } //yProbe
  
      #elif ENABLED(AUTO_BED_LEVELING_3POINT)
  
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
        #endif
  
        // Probe at 3 arbitrary points
        vector_3 points[3] = {
          vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
          vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
          vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
        };
  
        for (uint8_t i = 0; i < 3; ++i) {
          // Retain the last probe position
          xProbe = LOGICAL_X_POSITION(points[i].x);
          yProbe = LOGICAL_Y_POSITION(points[i].y);
          measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
        }
  
        if (measured_z == NAN) {
          planner.abl_enabled = abl_should_enable;
          return;
        }
  
        if (!dryrun) {
          vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
          if (planeNormal.z < 0) {
            planeNormal.x *= -1;
            planeNormal.y *= -1;
            planeNormal.z *= -1;
          }
          planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
  
          // Can't re-enable (on error) until the new grid is written
          abl_should_enable = false;
        }
  
      #endif // AUTO_BED_LEVELING_3POINT
  
      // Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
      if (STOW_PROBE()) {
        planner.abl_enabled = abl_should_enable;
        return;
      }
        destination[X_AXIS]=0;
        destination[Y_AXIS]=0;
        destination[Z_AXIS]=100;
        prepare_move_to_destination();
      //
      // Unless this is a dry run, auto bed leveling will
      // definitely be enabled after this point
      //
  
      // Restore state after probing
      clean_up_after_endstop_or_probe_move();
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
      #endif
  
      // Calculate leveling, print reports, correct the position
      #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  
        if (!dryrun) extrapolate_unprobed_bed_level();
        print_bed_level();
  
        #if ENABLED(ABL_BILINEAR_SUBDIVISION)
          bed_level_virt_prepare();
          bed_level_virt_interpolate();
          bed_level_virt_print();
        #endif
  
      #elif ENABLED(AUTO_BED_LEVELING_LINEAR)
  
        // For LINEAR leveling calculate matrix, print reports, correct the position
  
        // solve lsq problem
        float plane_equation_coefficients[3];
        qr_solve(plane_equation_coefficients, abl2, 3, eqnAMatrix, eqnBVector);
  
        mean /= abl2;
  
        if (verbose_level) {
          SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
          SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
          SERIAL_PROTOCOLPGM(" b: ");
          SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
          SERIAL_PROTOCOLPGM(" d: ");
          SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
          SERIAL_EOL;
          if (verbose_level > 2) {
            SERIAL_PROTOCOLPGM("Mean of sampled points: ");
            SERIAL_PROTOCOL_F(mean, 8);
            SERIAL_EOL;
          }
        }
  
        // Create the matrix but don't correct the position yet
        if (!dryrun) {
          planner.bed_level_matrix = matrix_3x3::create_look_at(
            vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1)
          );
        }
  
        // Show the Topography map if enabled
        if (do_topography_map) {
  
          SERIAL_PROTOCOLLNPGM("\nBed Height Topography:\n"
                                 "   +--- BACK --+\n"
                                 "   |           |\n"
                                 " L |    (+)    | R\n"
                                 " E |           | I\n"
                                 " F | (-) N (+) | G\n"
                                 " T |           | H\n"
                                 "   |    (-)    | T\n"
                                 "   |           |\n"
                                 "   O-- FRONT --+\n"
                                 " (0,0)");
  
          float min_diff = 999;
  
          for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
            for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
              int ind = indexIntoAB[xx][yy];
              float diff = eqnBVector[ind] - mean,
                    x_tmp = eqnAMatrix[ind + 0 * abl2],
                    y_tmp = eqnAMatrix[ind + 1 * abl2],
                    z_tmp = 0;
  
              apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  
              NOMORE(min_diff, eqnBVector[ind] - z_tmp);
  
              if (diff >= 0.0)
                SERIAL_PROTOCOLPGM(" +");   // Include + for column alignment
              else
                SERIAL_PROTOCOLCHAR(' ');
              SERIAL_PROTOCOL_F(diff, 5);
            } // xx
            SERIAL_EOL;
          } // yy
          SERIAL_EOL;
  
          if (verbose_level > 3) {
            SERIAL_PROTOCOLLNPGM("\nCorrected Bed Height vs. Bed Topology:");
  
            for (int8_t yy = abl_grid_points_y - 1; yy >= 0; yy--) {
              for (uint8_t xx = 0; xx < abl_grid_points_x; xx++) {
                int ind = indexIntoAB[xx][yy];
                float x_tmp = eqnAMatrix[ind + 0 * abl2],
                      y_tmp = eqnAMatrix[ind + 1 * abl2],
                      z_tmp = 0;
  
                apply_rotation_xyz(planner.bed_level_matrix, x_tmp, y_tmp, z_tmp);
  
                float diff = eqnBVector[ind] - z_tmp - min_diff;
                if (diff >= 0.0)
                  SERIAL_PROTOCOLPGM(" +");
                // Include + for column alignment
                else
                  SERIAL_PROTOCOLCHAR(' ');
                SERIAL_PROTOCOL_F(diff, 5);
              } // xx
              SERIAL_EOL;
            } // yy
            SERIAL_EOL;
          }
        } //do_topography_map
  
      #endif // AUTO_BED_LEVELING_LINEAR
  
      #if ABL_PLANAR
  
        // For LINEAR and 3POINT leveling correct the current position
  
        if (verbose_level > 0)
          planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
  
        if (!dryrun) {
          //
          // Correct the current XYZ position based on the tilted plane.
          //
  
          // 1. Get the distance from the current position to the reference point.
          float x_dist = RAW_CURRENT_POSITION(X_AXIS) - X_TILT_FULCRUM,
                y_dist = RAW_CURRENT_POSITION(Y_AXIS) - Y_TILT_FULCRUM,
                z_real = current_position[Z_AXIS],
                z_zero = 0;
  
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
          #endif
  
          matrix_3x3 inverse = matrix_3x3::transpose(planner.bed_level_matrix);
  
          // 2. Apply the inverse matrix to the distance
          //    from the reference point to X, Y, and zero.
          apply_rotation_xyz(inverse, x_dist, y_dist, z_zero);
  
          // 3. Get the matrix-based corrected Z.
          //    (Even if not used, get it for comparison.)
          float new_z = z_real + z_zero;
  
          // 4. Use the last measured distance to the bed, if possible
          if ( NEAR(current_position[X_AXIS], xProbe - (X_PROBE_OFFSET_FROM_EXTRUDER))
            && NEAR(current_position[Y_AXIS], yProbe - (Y_PROBE_OFFSET_FROM_EXTRUDER))
          ) {
            float simple_z = z_real - (measured_z - (-zprobe_zoffset));
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(LEVELING)) {
                SERIAL_ECHOPAIR("Z from Probe:", simple_z);
                SERIAL_ECHOPAIR("  Matrix:", new_z);
                SERIAL_ECHOLNPAIR("  Discrepancy:", simple_z - new_z);
              }
            #endif
            new_z = simple_z;
          }
  
          // 5. The rotated XY and corrected Z are now current_position
          current_position[X_AXIS] = LOGICAL_X_POSITION(x_dist) + X_TILT_FULCRUM;
          current_position[Y_AXIS] = LOGICAL_Y_POSITION(y_dist) + Y_TILT_FULCRUM;
          current_position[Z_AXIS] = new_z;
  
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
          #endif
        }
  
      #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
  
  report_current_position();
        if (!dryrun) {
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("G29 uncorrected Z:", current_position[Z_AXIS]);
          #endif
  
          // Unapply the offset because it is going to be immediately applied
          // and cause compensation movement in Z
          current_position[Z_AXIS] -= bilinear_z_offset(current_position);
  
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR(" corrected Z:", current_position[Z_AXIS]);
          #endif
        }
  
      #endif // ABL_PLANAR
  
      #ifdef Z_PROBE_END_SCRIPT
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
        #endif
        enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
        stepper.synchronize();
      #endif
  
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< gcode_G29");
      #endif
  
      report_current_position();
  
      KEEPALIVE_STATE(IN_HANDLER);
  
      // Auto Bed Leveling is complete! Enable if possible.
      planner.abl_enabled = dryrun ? abl_should_enable : true;
  
      if (planner.abl_enabled)
      {
        storeLevelingPara();
        SYNC_PLAN_POSITION_KINEMATIC();
      }
  
    }
  
  #endif // HAS_ABL
  
  #if HAS_BED_PROBE
  
    /**
     * G30: Do a single Z probe at the current XY
     * Usage:
     *   G30 <X#> <Y#> <S#>
     *     X = Probe X position (default=current probe position)
     *     Y = Probe Y position (default=current probe position)
     *     S = Stows the probe if 1 (default=1)
     */
    inline void gcode_G30() {
      float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
            Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
  
      float pos[XYZ] = { X_probe_location, Y_probe_location, LOGICAL_Z_POSITION(0) };
      if (!position_is_reachable(pos, true)) return;
  
      bool stow = code_seen('S') ? code_value_bool() : true;
  
      // Disable leveling so the planner won't mess with us
      #if PLANNER_LEVELING
        set_bed_leveling_enabled(false);
      #endif
  
      setup_for_endstop_or_probe_move();
  
      float measured_z = probe_pt(X_probe_location, Y_probe_location, stow, 1);
  
      SERIAL_PROTOCOLPGM("Bed X: ");
      SERIAL_PROTOCOL(X_probe_location + 0.0001);
      SERIAL_PROTOCOLPGM(" Y: ");
      SERIAL_PROTOCOL(Y_probe_location + 0.0001);
      SERIAL_PROTOCOLPGM(" Z: ");
      SERIAL_PROTOCOLLN(measured_z + 0.0001);
  
      clean_up_after_endstop_or_probe_move();
  
      report_current_position();
    }
  
    #if ENABLED(Z_PROBE_SLED)
  
      /**
       * G31: Deploy the Z probe
       */
      inline void gcode_G31() { DEPLOY_PROBE(); }
  
      /**
       * G32: Stow the Z probe
       */
      inline void gcode_G32() { STOW_PROBE(); }
  
    #endif // Z_PROBE_SLED
  
  #endif // HAS_BED_PROBE
  
  #if ENABLED(G38_PROBE_TARGET)
  
    static bool G38_run_probe() {
  
      bool G38_pass_fail = false;
  
      // Get direction of move and retract
      float retract_mm[XYZ];
      LOOP_XYZ(i) {
        float dist = destination[i] - current_position[i];
        retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm((AxisEnum)i) * (dist > 0 ? -1 : 1);
      }
  
      stepper.synchronize();  // wait until the machine is idle
  
      // Move until destination reached or target hit
      endstops.enable(true);
      G38_move = true;
      G38_endstop_hit = false;
      prepare_move_to_destination();
      stepper.synchronize();
      G38_move = false;
  
      endstops.hit_on_purpose();
      set_current_from_steppers_for_axis(ALL_AXES);
      SYNC_PLAN_POSITION_KINEMATIC();
  
      // Only do remaining moves if target was hit
      if (G38_endstop_hit) {
  
        G38_pass_fail = true;
  
        // Move away by the retract distance
        set_destination_to_current();
        LOOP_XYZ(i) destination[i] += retract_mm[i];
        endstops.enable(false);
        prepare_move_to_destination();
        stepper.synchronize();
  
        feedrate_mm_s /= 4;
  
        // Bump the target more slowly
        LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
  
        endstops.enable(true);
        G38_move = true;
        prepare_move_to_destination();
        stepper.synchronize();
        G38_move = false;
  
        set_current_from_steppers_for_axis(ALL_AXES);
        SYNC_PLAN_POSITION_KINEMATIC();
      }
  
      endstops.hit_on_purpose();
      endstops.not_homing();
      return G38_pass_fail;
    }
  
    /**
     * G38.2 - probe toward workpiece, stop on contact, signal error if failure
     * G38.3 - probe toward workpiece, stop on contact
     *
     * Like G28 except uses Z min endstop for all axes
     */
    inline void gcode_G38(bool is_38_2) {
      // Get X Y Z E F
      gcode_get_destination();
  
      setup_for_endstop_or_probe_move();
  
      // If any axis has enough movement, do the move
      LOOP_XYZ(i)
        if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
          if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
          // If G38.2 fails throw an error
          if (!G38_run_probe() && is_38_2) {
            SERIAL_ERROR_START;
            SERIAL_ERRORLNPGM("Failed to reach target");
          }
          break;
        }
  
      clean_up_after_endstop_or_probe_move();
    }
  
  #endif // G38_PROBE_TARGET
  
  /**
   * G92: Set current position to given X Y Z E
   */
  inline void gcode_G92() {
    bool didXYZ = false,
         didE = code_seen('E');
  
    if (!didE) stepper.synchronize();
  
    LOOP_XYZE(i) {
      if (code_seen(axis_codes[i])) {
        #if IS_SCARA
          current_position[i] = code_value_axis_units(i);
          if (i != E_AXIS) didXYZ = true;
        #else
          float p = current_position[i],
                v = code_value_axis_units(i);
  
          current_position[i] = v;
  
          if (i != E_AXIS) {
            didXYZ = true;
            position_shift[i] += v - p; // Offset the coordinate space
            update_software_endstops((AxisEnum)i);
          }
        #endif
      }
    }
    if (didXYZ)
      SYNC_PLAN_POSITION_KINEMATIC();
    else if (didE)
      sync_plan_position_e();
  
    report_current_position();
  }
  
  #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
  
    /**
     * M0: Unconditional stop - Wait for user button press on LCD
     * 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_millis(); // milliseconds to wait
        hasP = codenum > 0;
      }
      if (code_seen('S')) {
        codenum = code_value_millis_from_seconds(); // seconds to wait
        hasS = codenum > 0;
      }
  
      #if ENABLED(ULTIPANEL)
  
        if (!hasP && !hasS && *args != '\0')
          lcd_setstatus(args, true);
        else {
          LCD_MESSAGEPGM(MSG_USERWAIT);
          #if ENABLED(LCD_PROGRESS_BAR) && PROGRESS_MSG_EXPIRE > 0
            dontExpireStatus();
          #endif
        }
  
      #else
  
        if (!hasP && !hasS && *args != '\0') {
          SERIAL_ECHO_START;
          SERIAL_ECHOLN(args);
        }
  
      #endif
  
      wait_for_user = true;
      KEEPALIVE_STATE(PAUSED_FOR_USER);
  
      stepper.synchronize();
      refresh_cmd_timeout();
  
      if (codenum > 0) {
        codenum += previous_cmd_ms;  // wait until this time for a click
        while (PENDING(millis(), codenum) && wait_for_user) idle();
      }
      else {
        #if ENABLED(ULTIPANEL)
          if (lcd_detected()) {
            while (wait_for_user) idle();
            IS_SD_PRINTING ? LCD_MESSAGEPGM(MSG_RESUMING) : LCD_MESSAGEPGM(WELCOME_MSG);
          }
        #else
          while (wait_for_user) idle();
        #endif
      }
  
      wait_for_user = false;
      KEEPALIVE_STATE(IN_HANDLER);
    }
  
  #endif // EMERGENCY_PARSER || ULTIPANEL
  
  /**
   * 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() {
      SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
      card.ls();
      SERIAL_PROTOCOLLNPGM(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: Open a file
     */
    inline void gcode_M23() { card.openFile(current_command_args, true); }
  
    /**
     * M24: Start SD Print
     */
    inline void gcode_M24() {
      card.startFileprint();
      print_job_timer.start();
    }
  
    /**
     * 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_long());
    }
  
    /**
     * 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 // SDSUPPORT
  
  /**
   * M31: Get the time since the start of SD Print (or last M109)
   */
  inline void gcode_M31() {
    char buffer[21];
    duration_t elapsed = print_job_timer.duration();
    elapsed.toString(buffer);
  
    lcd_setstatus(buffer);
  
    SERIAL_ECHO_START;
    SERIAL_ECHOLNPAIR("Print time: ", buffer);
  
    #if ENABLED(AUTOTEMP)
      thermalManager.autotempShutdown();
    #endif
  }
  
  #if ENABLED(SDSUPPORT)
  
    /**
     * M32: Select file and start SD Print
     */
    inline void gcode_M32() {
      if (card.sdprinting)
        stepper.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_long());
  
        card.startFileprint();
  
        // Procedure calls count as normal print time.
        if (!call_procedure) print_job_timer.start();
      }
    }
  
    #if ENABLED(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
  
  /**
   * Sensitive pin test for M42, M226
   */
  static bool pin_is_protected(uint8_t pin) {
    static const int sensitive_pins[] = SENSITIVE_PINS;
    for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
      if (sensitive_pins[i] == pin) return true;
    return false;
  }
  
  /**
   * M42: Change pin status via GCode
   *
   *  P<pin>  Pin number (LED if omitted)
   *  S<byte> Pin status from 0 - 255
   */
  inline void gcode_M42() {
    if (!code_seen('S')) return;
  
    int pin_status = code_value_int();
    if (pin_status < 0 || pin_status > 255) return;
  
    int pin_number = code_seen('P') ? code_value_int() : LED_PIN;
    if (pin_number < 0) return;
  
    if (pin_is_protected(pin_number)) {
      SERIAL_ERROR_START;
      SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
      return;
    }
  
    pinMode(pin_number, OUTPUT);
    digitalWrite(pin_number, pin_status);
    analogWrite(pin_number, pin_status);
  
    #if FAN_COUNT > 0
      switch (pin_number) {
        #if HAS_FAN0
          case FAN_PIN: fanSpeeds[0] = pin_status; break;
        #endif
        #if HAS_FAN1
          case FAN1_PIN: fanSpeeds[1] = pin_status; break;
        #endif
        #if HAS_FAN2
          case FAN2_PIN: fanSpeeds[2] = pin_status; break;
        #endif
      }
    #endif
  }
  
  #if ENABLED(PINS_DEBUGGING)
  
    #include "pinsDebug.h"
  
    /**
     * M43: Pin report and debug
     *
     *      E<bool> Enable / disable background endstop monitoring
     *               - Machine continues to operate
     *               - Reports changes to endstops
     *               - Toggles LED when an endstop changes
     *
     *   or
     *
     *      P<pin>  Pin to read or watch. If omitted, read/watch all pins.
     *      W<bool> Watch pins -reporting changes- until reset, click, or M108.
     *      I<bool> Flag to ignore Marlin's pin protection.
     *
     */
    inline void gcode_M43() {
  
      // Enable or disable endstop monitoring
      if (code_seen('E')) {
        endstop_monitor_flag = code_value_bool();
        SERIAL_PROTOCOLPGM("endstop monitor ");
        SERIAL_PROTOCOL(endstop_monitor_flag ? "en" : "dis");
        SERIAL_PROTOCOLLNPGM("abled");
        return;
      }
  
      // Get the range of pins to test or watch
      int first_pin = 0, last_pin = NUM_DIGITAL_PINS - 1;
      if (code_seen('P')) {
        first_pin = last_pin = code_value_byte();
        if (first_pin > NUM_DIGITAL_PINS - 1) return;
      }
  
      bool ignore_protection = code_seen('I') ? code_value_bool() : false;
  
      // Watch until click, M108, or reset
      if (code_seen('W') && code_value_bool()) { // watch digital pins
        byte pin_state[last_pin - first_pin + 1];
        for (int8_t pin = first_pin; pin <= last_pin; pin++) {
          if (pin_is_protected(pin) && !ignore_protection) continue;
          pinMode(pin, INPUT_PULLUP);
          // if (IS_ANALOG(pin))
          //   pin_state[pin - first_pin] = analogRead(pin - analogInputToDigitalPin(0)); // int16_t pin_state[...]
          // else
            pin_state[pin - first_pin] = digitalRead(pin);
        }
  
        #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
          wait_for_user = true;
        #endif
  
        for(;;) {
          for (int8_t pin = first_pin; pin <= last_pin; pin++) {
            if (pin_is_protected(pin)) continue;
            byte val;
            // if (IS_ANALOG(pin))
            //   val = analogRead(pin - analogInputToDigitalPin(0)); // int16_t val
            // else
              val = digitalRead(pin);
            if (val != pin_state[pin - first_pin]) {
              report_pin_state(pin);
              pin_state[pin - first_pin] = val;
            }
          }
  
          #if ENABLED(EMERGENCY_PARSER) || ENABLED(ULTIPANEL)
            if (!wait_for_user) break;
          #endif
  
          safe_delay(500);
        }
        return;
      }
  
      // Report current state of selected pin(s)
      for (uint8_t pin = first_pin; pin <= last_pin; pin++)
        report_pin_state_extended(pin, ignore_protection);
    }
  
  #endif // PINS_DEBUGGING
  
  #if ENABLED(Z_MIN_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 Z probe for each reading
     *     L = Number of legs of movement before probe
     *     S = Schizoid (Or Star if you prefer)
     *
     * 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() {
  
      if (axis_unhomed_error(true, true, true)) return;
  
      int8_t verbose_level = code_seen('V') ? code_value_byte() : 1;
      if (verbose_level < 0 || verbose_level > 4) {
        SERIAL_PROTOCOLLNPGM("?Verbose Level not plausible (0-4).");
        return;
      }
  
      if (verbose_level > 0)
        SERIAL_PROTOCOLLNPGM("M48 Z-Probe Repeatability Test");
  
      int8_t n_samples = code_seen('P') ? code_value_byte() : 10;
      if (n_samples < 4 || n_samples > 50) {
        SERIAL_PROTOCOLLNPGM("?Sample size not plausible (4-50).");
        return;
      }
  
      float  X_current = current_position[X_AXIS],
             Y_current = current_position[Y_AXIS];
  
      bool stow_probe_after_each = code_seen('E');
  
      float X_probe_location = code_seen('X') ? code_value_axis_units(X_AXIS) : X_current + X_PROBE_OFFSET_FROM_EXTRUDER;
      #if DISABLED(DELTA)
        if (X_probe_location < LOGICAL_X_POSITION(MIN_PROBE_X) || X_probe_location > LOGICAL_X_POSITION(MAX_PROBE_X)) {
          out_of_range_error(PSTR("X"));
          return;
        }
      #endif
  
      float Y_probe_location = code_seen('Y') ? code_value_axis_units(Y_AXIS) : Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER;
      #if DISABLED(DELTA)
        if (Y_probe_location < LOGICAL_Y_POSITION(MIN_PROBE_Y) || Y_probe_location > LOGICAL_Y_POSITION(MAX_PROBE_Y)) {
          out_of_range_error(PSTR("Y"));
          return;
        }
      #else
        float pos[XYZ] = { X_probe_location, Y_probe_location, 0 };
        if (!position_is_reachable(pos, true)) {
          SERIAL_PROTOCOLLNPGM("? (X,Y) location outside of probeable radius.");
          return;
        }
      #endif
  
      bool seen_L = code_seen('L');
      uint8_t n_legs = seen_L ? code_value_byte() : 0;
      if (n_legs > 15) {
        SERIAL_PROTOCOLLNPGM("?Number of legs in movement not plausible (0-15).");
        return;
      }
      if (n_legs == 1) n_legs = 2;
  
      bool schizoid_flag = code_seen('S');
      if (schizoid_flag && !seen_L) n_legs = 7;
  
      /**
       * 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)
        SERIAL_PROTOCOLLNPGM("Positioning the probe...");
  
      // Disable bed level correction in M48 because we want the raw data when we probe
      #if HAS_ABL
        reset_bed_level();
      #endif
  
      setup_for_endstop_or_probe_move();
  
      // Move to the first point, deploy, and probe
      probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, verbose_level);
  
      randomSeed(millis());
  
      double mean = 0.0, sigma = 0.0, min = 99999.9, max = -99999.9, sample_set[n_samples];
  
      for (uint8_t n = 0; n < n_samples; n++) {
        if (n_legs) {
          int dir = (random(0, 10) > 5.0) ? -1 : 1;  // clockwise or counter clockwise
          float angle = random(0.0, 360.0),
                radius = random(
                  #if ENABLED(DELTA)
                    DELTA_PROBEABLE_RADIUS / 8, DELTA_PROBEABLE_RADIUS / 3
                  #else
                    5, X_MAX_LENGTH / 8
                  #endif
                );
  
          if (verbose_level > 3) {
            SERIAL_ECHOPAIR("Starting radius: ", radius);
            SERIAL_ECHOPAIR("   angle: ", angle);
            SERIAL_ECHOPGM(" Direction: ");
            if (dir > 0) SERIAL_ECHOPGM("Counter-");
            SERIAL_ECHOLNPGM("Clockwise");
          }
  
          for (uint8_t l = 0; l < n_legs - 1; l++) {
            double delta_angle;
  
            if (schizoid_flag)
              // The points of a 5 point star are 72 degrees apart.  We need to
              // skip a point and go to the next one on the star.
              delta_angle = dir * 2.0 * 72.0;
  
            else
              // If we do this line, we are just trying to move further
              // around the circle.
              delta_angle = dir * (float) random(25, 45);
  
            angle += delta_angle;
  
            while (angle > 360.0)   // We probably do not need to keep the angle between 0 and 2*PI, but the
              angle -= 360.0;       // Arduino documentation says the trig functions should not be given values
            while (angle < 0.0)     // outside of this range.   It looks like they behave correctly with
              angle += 360.0;       // numbers outside of the range, but just to be safe we clamp them.
  
            X_current = X_probe_location - (X_PROBE_OFFSET_FROM_EXTRUDER) + cos(RADIANS(angle)) * radius;
            Y_current = Y_probe_location - (Y_PROBE_OFFSET_FROM_EXTRUDER) + sin(RADIANS(angle)) * radius;
  
            #if DISABLED(DELTA)
              X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
              Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
            #else
              // If we have gone out too far, we can do a simple fix and scale the numbers
              // back in closer to the origin.
              while (HYPOT(X_current, Y_current) > DELTA_PROBEABLE_RADIUS) {
                X_current /= 1.25;
                Y_current /= 1.25;
                if (verbose_level > 3) {
                  SERIAL_ECHOPAIR("Pulling point towards center:", X_current);
                  SERIAL_ECHOLNPAIR(", ", Y_current);
                }
              }
            #endif
            if (verbose_level > 3) {
              SERIAL_PROTOCOLPGM("Going to:");
              SERIAL_ECHOPAIR(" X", X_current);
              SERIAL_ECHOPAIR(" Y", Y_current);
              SERIAL_ECHOLNPAIR(" Z", current_position[Z_AXIS]);
            }
            do_blocking_move_to_xy(X_current, Y_current);
          } // n_legs loop
        } // n_legs
  
        // Probe a single point
        sample_set[n] = probe_pt(X_probe_location, Y_probe_location, stow_probe_after_each, 0);
  
        /**
         * Get the current mean for the data points we have so far
         */
        double sum = 0.0;
        for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
        mean = sum / (n + 1);
  
        NOMORE(min, sample_set[n]);
        NOLESS(max, sample_set[n]);
  
        /**
         * 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++)
          sum += sq(sample_set[j] - mean);
  
        sigma = sqrt(sum / (n + 1));
        if (verbose_level > 0) {
          if (verbose_level > 1) {
            SERIAL_PROTOCOL(n + 1);
            SERIAL_PROTOCOLPGM(" of ");
            SERIAL_PROTOCOL((int)n_samples);
            SERIAL_PROTOCOLPGM(": z: ");
            SERIAL_PROTOCOL_F(sample_set[n], 3);
            if (verbose_level > 2) {
              SERIAL_PROTOCOLPGM(" mean: ");
              SERIAL_PROTOCOL_F(mean, 4);
              SERIAL_PROTOCOLPGM(" sigma: ");
              SERIAL_PROTOCOL_F(sigma, 6);
              SERIAL_PROTOCOLPGM(" min: ");
              SERIAL_PROTOCOL_F(min, 3);
              SERIAL_PROTOCOLPGM(" max: ");
              SERIAL_PROTOCOL_F(max, 3);
              SERIAL_PROTOCOLPGM(" range: ");
              SERIAL_PROTOCOL_F(max-min, 3);
            }
          }
          SERIAL_EOL;
        }
  
      } // End of probe loop
  
      if (STOW_PROBE()) return;
  
      SERIAL_PROTOCOLPGM("Finished!");
      SERIAL_EOL;
  
      if (verbose_level > 0) {
        SERIAL_PROTOCOLPGM("Mean: ");
        SERIAL_PROTOCOL_F(mean, 6);
        SERIAL_PROTOCOLPGM(" Min: ");
        SERIAL_PROTOCOL_F(min, 3);
        SERIAL_PROTOCOLPGM(" Max: ");
        SERIAL_PROTOCOL_F(max, 3);
        SERIAL_PROTOCOLPGM(" Range: ");
        SERIAL_PROTOCOL_F(max-min, 3);
        SERIAL_EOL;
      }
  
      SERIAL_PROTOCOLPGM("Standard Deviation: ");
      SERIAL_PROTOCOL_F(sigma, 6);
      SERIAL_EOL;
      SERIAL_EOL;
  
      clean_up_after_endstop_or_probe_move();
  
      report_current_position();
    }
  
  #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  
  /**
   * M75: Start print timer
   */
  inline void gcode_M75() { print_job_timer.start(); }
  
  /**
   * M76: Pause print timer
   */
  inline void gcode_M76() { print_job_timer.pause(); }
  
  /**
   * M77: Stop print timer
   */
  inline void gcode_M77() { print_job_timer.stop(); }
  
  #if ENABLED(PRINTCOUNTER)
    /**
     * M78: Show print statistics
     */
    inline void gcode_M78() {
      // "M78 S78" will reset the statistics
      if (code_seen('S') && code_value_int() == 78)
        print_job_timer.initStats();
      else
        print_job_timer.showStats();
    }
  #endif
  
  /**
   * M104: Set hot end temperature
   */
  inline void gcode_M104() {
    if (get_target_extruder_from_command(104)) return;
    if (DEBUGGING(DRYRUN)) return;
  
    #if ENABLED(SINGLENOZZLE)
      if (target_extruder != active_extruder) return;
    #endif
  
    if (code_seen('S')) {
      thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
      #if ENABLED(DUAL_X_CARRIAGE)
        if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
          thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
      #endif
  
      #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
        /**
         * Stop the timer at the end of print, starting is managed by
         * 'heat and wait' M109.
         * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
         * stand by mode, for instance in a dual extruder setup, without affecting
         * the running print timer.
         */
        if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
          print_job_timer.stop();
          LCD_MESSAGEPGM(WELCOME_MSG);
        }
      #endif
  
      if (code_value_temp_abs() > thermalManager.degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
    }
    
    #if ENABLED(AUTOTEMP)
      planner.autotemp_M104_M109();
    #endif
  }
  
  #if HAS_TEMP_HOTEND || HAS_TEMP_BED
  
    void print_heaterstates() {
      #if HAS_TEMP_HOTEND
        SERIAL_PROTOCOLPGM(" T:");
        SERIAL_PROTOCOL_F(thermalManager.degHotend(target_extruder), 1);
        SERIAL_PROTOCOLPGM(" /");
        SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(target_extruder), 1);
        #if ENABLED(SHOW_TEMP_ADC_VALUES)
          SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[target_extruder] / OVERSAMPLENR);
          SERIAL_CHAR(')');
        #endif
      #endif
      #if HAS_TEMP_BED
        SERIAL_PROTOCOLPGM(" B:");
        SERIAL_PROTOCOL_F(thermalManager.degBed(), 1);
        SERIAL_PROTOCOLPGM(" /");
        SERIAL_PROTOCOL_F(thermalManager.degTargetBed(), 1);
        #if ENABLED(SHOW_TEMP_ADC_VALUES)
          SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_bed_raw / OVERSAMPLENR);
          SERIAL_CHAR(')');
        #endif
      #endif
      #if HOTENDS > 1
        HOTEND_LOOP() {
          SERIAL_PROTOCOLPAIR(" T", e);
          SERIAL_PROTOCOLCHAR(':');
          SERIAL_PROTOCOL_F(thermalManager.degHotend(e), 1);
          SERIAL_PROTOCOLPGM(" /");
          SERIAL_PROTOCOL_F(thermalManager.degTargetHotend(e), 1);
          #if ENABLED(SHOW_TEMP_ADC_VALUES)
            SERIAL_PROTOCOLPAIR(" (", thermalManager.current_temperature_raw[e] / OVERSAMPLENR);
            SERIAL_CHAR(')');
          #endif
        }
      #endif
      SERIAL_PROTOCOLPGM(" @:");
      SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder));
      #if HAS_TEMP_BED
        SERIAL_PROTOCOLPGM(" B@:");
        SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1));
      #endif
      #if HOTENDS > 1
        HOTEND_LOOP() {
          SERIAL_PROTOCOLPAIR(" @", e);
          SERIAL_PROTOCOLCHAR(':');
          SERIAL_PROTOCOL(thermalManager.getHeaterPower(e));
        }
      #endif
    }
  #endif
  
  /**
   * M105: Read hot end and bed temperature
   */
  inline void gcode_M105() {
    if (get_target_extruder_from_command(105)) return;
  
    #if HAS_TEMP_HOTEND || HAS_TEMP_BED
      SERIAL_PROTOCOLPGM(MSG_OK);
      print_heaterstates();
    #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
      SERIAL_ERROR_START;
      SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
    #endif
  
    SERIAL_EOL;
  }
  
  #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
  
    static uint8_t auto_report_temp_interval;
    static millis_t next_temp_report_ms;
  
    /**
     * M155: Set temperature auto-report interval. M155 S<seconds>
     */
    inline void gcode_M155() {
      if (code_seen('S')) {
        auto_report_temp_interval = code_value_byte();
        NOMORE(auto_report_temp_interval, 60);
        next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
      }
    }
  
    inline void auto_report_temperatures() {
      if (auto_report_temp_interval && ELAPSED(millis(), next_temp_report_ms)) {
        next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
        print_heaterstates();
        SERIAL_EOL;
      }
    }
  
  #endif // AUTO_REPORT_TEMPERATURES
  
  #if FAN_COUNT > 0
  
    /**
     * M106: Set Fan Speed
     *
     *  S<int>   Speed between 0-255
     *  P<index> Fan index, if more than one fan
     */
    inline void gcode_M106() {
      uint16_t s = code_seen('S') ? code_value_ushort() : 255,
               p = code_seen('P') ? code_value_ushort() : 0;
      NOMORE(s, 255);
      if (p < FAN_COUNT) fanSpeeds[p] = s;
    }
  
    /**
     * M107: Fan Off
     */
    inline void gcode_M107() {
      uint16_t p = code_seen('P') ? code_value_ushort() : 0;
      if (p < FAN_COUNT) fanSpeeds[p] = 0;
    }
  
  #endif // FAN_COUNT > 0
  
  #if DISABLED(EMERGENCY_PARSER)
  
    /**
     * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature.
     */
    inline void gcode_M108() { wait_for_heatup = false; }
  
  
    /**
     * M112: Emergency Stop
     */
    inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
  
  
    /**
     * 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_stepper(); }
  
  #endif
  
    #ifndef MIN_COOLING_SLOPE_DEG
      #define MIN_COOLING_SLOPE_DEG 1.50
    #endif
    #ifndef MIN_COOLING_SLOPE_TIME
      #define MIN_COOLING_SLOPE_TIME 60
    #endif
  
  /**
   * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
   *       Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
   */
  inline void gcode_M109() {
  
    if (get_target_extruder_from_command(109)) return;
    if (DEBUGGING(DRYRUN)) return;
  
    #if ENABLED(SINGLENOZZLE)
      if (target_extruder != active_extruder) return;
    #endif
  
    bool no_wait_for_cooling = code_seen('S');
    if (no_wait_for_cooling || code_seen('R')) {
      thermalManager.setTargetHotend(code_value_temp_abs(), target_extruder);
      #if ENABLED(DUAL_X_CARRIAGE)
        if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
          thermalManager.setTargetHotend(code_value_temp_abs() == 0.0 ? 0.0 : code_value_temp_abs() + duplicate_extruder_temp_offset, 1);
      #endif
  
      #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
        /**
         * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
         * stand by mode, for instance in a dual extruder setup, without affecting
         * the running print timer.
         */
        if (code_value_temp_abs() <= (EXTRUDE_MINTEMP)/2) {
          print_job_timer.stop();
          LCD_MESSAGEPGM(WELCOME_MSG);
        }
        /**
         * We do not check if the timer is already running because this check will
         * be done for us inside the Stopwatch::start() method thus a running timer
         * will not restart.
         */
        else print_job_timer.start();
      #endif
  
      if (thermalManager.isHeatingHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
    }
  
    #if ENABLED(AUTOTEMP)
      planner.autotemp_M104_M109();
    #endif
  
    #if TEMP_RESIDENCY_TIME > 0
      millis_t residency_start_ms = 0;
      // Loop until the temperature has stabilized
      #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
    #else
      // Loop until the temperature is very close target
      #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
    #endif //TEMP_RESIDENCY_TIME > 0
  
    float theTarget = -1.0, old_temp = 9999.0;
    bool wants_to_cool = false;
    wait_for_heatup = true;
    millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  
    KEEPALIVE_STATE(NOT_BUSY);
  
    do {
      // Target temperature might be changed during the loop
      if (theTarget != thermalManager.degTargetHotend(target_extruder)) {
        wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
        theTarget = thermalManager.degTargetHotend(target_extruder);
  
        // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
        if (no_wait_for_cooling && wants_to_cool) break;
      }
  
      now = millis();
      if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
        next_temp_ms = now + 1000UL;
        print_heaterstates();
        #if TEMP_RESIDENCY_TIME > 0
          SERIAL_PROTOCOLPGM(" W:");
          if (residency_start_ms) {
            long rem = (((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
            SERIAL_PROTOCOLLN(rem);
          }
          else {
            SERIAL_PROTOCOLLNPGM("?");
          }
        #else
          SERIAL_EOL;
        #endif
      }
  
      idle();
      refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  
      float temp = thermalManager.degHotend(target_extruder);
  
      #if TEMP_RESIDENCY_TIME > 0
  
        float temp_diff = fabs(theTarget - temp);
  
        if (!residency_start_ms) {
          // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
          if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
        }
        else if (temp_diff > TEMP_HYSTERESIS) {
          // Restart the timer whenever the temperature falls outside the hysteresis.
          residency_start_ms = now;
        }
  
      #endif //TEMP_RESIDENCY_TIME > 0
  
      // Prevent a wait-forever situation if R is misused i.e. M109 R0
      if (wants_to_cool) {
        // break after MIN_COOLING_SLOPE_TIME seconds
        // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
        if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
          if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
          next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
          old_temp = temp;
        }
      }
  
    } while (wait_for_heatup && TEMP_CONDITIONS);
  
    if (wait_for_heatup) LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
  
    KEEPALIVE_STATE(IN_HANDLER);
  }
  
  #if HAS_TEMP_BED
  
    #ifndef MIN_COOLING_SLOPE_DEG_BED
      #define MIN_COOLING_SLOPE_DEG_BED 1.50
    #endif
    #ifndef MIN_COOLING_SLOPE_TIME_BED
      #define MIN_COOLING_SLOPE_TIME_BED 60
    #endif
  
    /**
     * 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 (DEBUGGING(DRYRUN)) return;
  
      LCD_MESSAGEPGM(MSG_BED_HEATING);
      bool no_wait_for_cooling = code_seen('S');
      if (no_wait_for_cooling || code_seen('R')) {
        thermalManager.setTargetBed(code_value_temp_abs());
        #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
          if (code_value_temp_abs() > BED_MINTEMP) {
            /**
            * We start the timer when 'heating and waiting' command arrives, LCD
            * functions never wait. Cooling down managed by extruders.
            *
            * We do not check if the timer is already running because this check will
            * be done for us inside the Stopwatch::start() method thus a running timer
            * will not restart.
            */
            print_job_timer.start();
          }
        #endif
      }
  
      #if TEMP_BED_RESIDENCY_TIME > 0
        millis_t residency_start_ms = 0;
        // Loop until the temperature has stabilized
        #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
      #else
        // Loop until the temperature is very close target
        #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
      #endif //TEMP_BED_RESIDENCY_TIME > 0
  
      float theTarget = -1.0, old_temp = 9999.0;
      bool wants_to_cool = false;
      wait_for_heatup = true;
      millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
  
      KEEPALIVE_STATE(NOT_BUSY);
  
      target_extruder = active_extruder; // for print_heaterstates
  
      do {
        // Target temperature might be changed during the loop
        if (theTarget != thermalManager.degTargetBed()) {
          wants_to_cool = thermalManager.isCoolingBed();
          theTarget = thermalManager.degTargetBed();
  
          // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
          if (no_wait_for_cooling && wants_to_cool) break;
        }
  
        now = millis();
        if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
          next_temp_ms = now + 1000UL;
          print_heaterstates();
          #if TEMP_BED_RESIDENCY_TIME > 0
            SERIAL_PROTOCOLPGM(" W:");
            if (residency_start_ms) {
              long rem = (((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL;
              SERIAL_PROTOCOLLN(rem);
            }
            else {
              SERIAL_PROTOCOLLNPGM("?");
            }
          #else
            SERIAL_EOL;
          #endif
        }
  
        idle();
        refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
  
        float temp = thermalManager.degBed();
  
        #if TEMP_BED_RESIDENCY_TIME > 0
  
          float temp_diff = fabs(theTarget - temp);
  
          if (!residency_start_ms) {
            // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
            if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
          }
          else if (temp_diff > TEMP_BED_HYSTERESIS) {
            // Restart the timer whenever the temperature falls outside the hysteresis.
            residency_start_ms = now;
          }
  
        #endif //TEMP_BED_RESIDENCY_TIME > 0
  
        // Prevent a wait-forever situation if R is misused i.e. M190 R0
        if (wants_to_cool) {
          // break after MIN_COOLING_SLOPE_TIME_BED seconds
          // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
          if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
            if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
            next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
            old_temp = temp;
          }
        }
  
      } while (wait_for_heatup && TEMP_BED_CONDITIONS);
  
      if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
      KEEPALIVE_STATE(IN_HANDLER);
    }
  
  #endif // HAS_TEMP_BED
  
  /**
   * M110: Set Current Line Number
   */
  inline void gcode_M110() {
    if (code_seen('N')) gcode_N = code_value_long();
  }
  
  /**
   * M111: Set the debug level
   */
  inline void gcode_M111() {
    marlin_debug_flags = code_seen('S') ? code_value_byte() : (uint8_t) DEBUG_NONE;
  
    const static char str_debug_1[] PROGMEM = MSG_DEBUG_ECHO;
    const static char str_debug_2[] PROGMEM = MSG_DEBUG_INFO;
    const static char str_debug_4[] PROGMEM = MSG_DEBUG_ERRORS;
    const static char str_debug_8[] PROGMEM = MSG_DEBUG_DRYRUN;
    const static char str_debug_16[] PROGMEM = MSG_DEBUG_COMMUNICATION;
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      const static char str_debug_32[] PROGMEM = MSG_DEBUG_LEVELING;
    #endif
  
    const static char* const debug_strings[] PROGMEM = {
      str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16,
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        str_debug_32
      #endif
    };
  
    SERIAL_ECHO_START;
    SERIAL_ECHOPGM(MSG_DEBUG_PREFIX);
    if (marlin_debug_flags) {
      uint8_t comma = 0;
      for (uint8_t i = 0; i < COUNT(debug_strings); i++) {
        if (TEST(marlin_debug_flags, i)) {
          if (comma++) SERIAL_CHAR(',');
          serialprintPGM((char*)pgm_read_word(&(debug_strings[i])));
        }
      }
    }
    else {
      SERIAL_ECHOPGM(MSG_DEBUG_OFF);
    }
    SERIAL_EOL;
  }
  
  #if ENABLED(HOST_KEEPALIVE_FEATURE)
  
    /**
     * M113: Get or set Host Keepalive interval (0 to disable)
     *
     *   S<seconds> Optional. Set the keepalive interval.
     */
    inline void gcode_M113() {
      if (code_seen('S')) {
        host_keepalive_interval = code_value_byte();
        NOMORE(host_keepalive_interval, 60);
      }
      else {
        SERIAL_ECHO_START;
        SERIAL_ECHOLNPAIR("M113 S", (unsigned long)host_keepalive_interval);
      }
    }
  
  #endif
  
  #if ENABLED(BARICUDA)
  
    #if HAS_HEATER_1
      /**
       * M126: Heater 1 valve open
       */
      inline void gcode_M126() { baricuda_valve_pressure = code_seen('S') ? code_value_byte() : 255; }
      /**
       * M127: Heater 1 valve close
       */
      inline void gcode_M127() { baricuda_valve_pressure = 0; }
    #endif
  
    #if HAS_HEATER_2
      /**
       * M128: Heater 2 valve open
       */
      inline void gcode_M128() { baricuda_e_to_p_pressure = code_seen('S') ? code_value_byte() : 255; }
      /**
       * M129: Heater 2 valve close
       */
      inline void gcode_M129() { baricuda_e_to_p_pressure = 0; }
    #endif
  
  #endif //BARICUDA
  
  /**
   * M140: Set bed temperature
   */
  inline void gcode_M140() {
    if (DEBUGGING(DRYRUN)) return;
    if (code_seen('S')) thermalManager.setTargetBed(code_value_temp_abs());
  }
  
  #if ENABLED(ULTIPANEL)
  
    /**
     * M145: Set the heatup state for a material in the LCD menu
     *   S<material> (0=PLA, 1=ABS)
     *   H<hotend temp>
     *   B<bed temp>
     *   F<fan speed>
     */
    inline void gcode_M145() {
      uint8_t material = code_seen('S') ? (uint8_t)code_value_int() : 0;
      if (material >= COUNT(lcd_preheat_hotend_temp)) {
        SERIAL_ERROR_START;
        SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
      }
      else {
        int v;
        if (code_seen('H')) {
          v = code_value_int();
          lcd_preheat_hotend_temp[material] = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
        }
        if (code_seen('F')) {
          v = code_value_int();
          lcd_preheat_fan_speed[material] = constrain(v, 0, 255);
        }
        #if TEMP_SENSOR_BED != 0
          if (code_seen('B')) {
            v = code_value_int();
            lcd_preheat_bed_temp[material] = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
          }
        #endif
      }
    }
  
  #endif // ULTIPANEL
  
  #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
    /**
     * M149: Set temperature units
     */
    inline void gcode_M149() {
           if (code_seen('C')) set_input_temp_units(TEMPUNIT_C);
      else if (code_seen('K')) set_input_temp_units(TEMPUNIT_K);
      else if (code_seen('F')) set_input_temp_units(TEMPUNIT_F);
    }
  #endif
  
  #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 ENABLED(ULTIPANEL)
        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() {
    thermalManager.disable_all_heaters();
    stepper.finish_and_disable();
    #if FAN_COUNT > 0
      #if FAN_COUNT > 1
        for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
      #else
        fanSpeeds[0] = 0;
      #endif
    #endif
    delay(1000); // Wait 1 second before switching off
    #if HAS_SUICIDE
      stepper.synchronize();
      suicide();
    #elif HAS_POWER_SWITCH
      OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
    #endif
    #if ENABLED(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_millis_from_seconds();
    }
    else {
      bool all_axis = !((code_seen('X')) || (code_seen('Y')) || (code_seen('Z')) || (code_seen('E')));
      if (all_axis) {
        stepper.finish_and_disable();
      }
      else {
        stepper.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_e0();
            disable_e1();
            disable_e2();
            disable_e3();
          }
        #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_millis_from_seconds();
  }
  
  /**
   * Multi-stepper support for M92, M201, M203
   */
  #if ENABLED(DISTINCT_E_FACTORS)
    #define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return
    #define TARGET_EXTRUDER target_extruder
  #else
    #define GET_TARGET_EXTRUDER(CMD) NOOP
    #define TARGET_EXTRUDER 0
  #endif
  
  /**
   * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
   *      (Follows the same syntax as G92)
   *
   *      With multiple extruders use T to specify which one.
   */
  inline void gcode_M92() {
  
    GET_TARGET_EXTRUDER(92);
  
    LOOP_XYZE(i) {
      if (code_seen(axis_codes[i])) {
        if (i == E_AXIS) {
          float value = code_value_per_axis_unit(E_AXIS + TARGET_EXTRUDER);
          if (value < 20.0) {
            float factor = planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] / value; // increase e constants if M92 E14 is given for netfab.
            planner.max_jerk[E_AXIS] *= factor;
            planner.max_feedrate_mm_s[E_AXIS + TARGET_EXTRUDER] *= factor;
            planner.max_acceleration_steps_per_s2[E_AXIS + TARGET_EXTRUDER] *= factor;
          }
          planner.axis_steps_per_mm[E_AXIS + TARGET_EXTRUDER] = value;
        }
        else {
          planner.axis_steps_per_mm[i] = code_value_per_axis_unit(i);
        }
      }
    }
    planner.refresh_positioning();
  }
  
  /**
   * Output the current position to serial
   */
  static void report_current_position() {
    SERIAL_PROTOCOLPGM("X:");
    SERIAL_PROTOCOL(current_position[X_AXIS]);
    SERIAL_PROTOCOLPGM(" Y:");
    SERIAL_PROTOCOL(current_position[Y_AXIS]);
    SERIAL_PROTOCOLPGM(" Z:");
    SERIAL_PROTOCOL(current_position[Z_AXIS]);
    SERIAL_PROTOCOLPGM(" E:");
    SERIAL_PROTOCOL(current_position[E_AXIS]);
  
    stepper.report_positions();
  
    #if IS_SCARA
      SERIAL_PROTOCOLPAIR("SCARA Theta:", stepper.get_axis_position_degrees(A_AXIS));
      SERIAL_PROTOCOLLNPAIR("   Psi+Theta:", stepper.get_axis_position_degrees(B_AXIS));
      SERIAL_EOL;
    #endif
  }
  
  /**
   * M114: Output current position to serial port
   */
  inline void gcode_M114() { report_current_position(); }
  
  /**
   * M115: Capabilities string
   */
  inline void gcode_M115() {
    SERIAL_PROTOCOLLNPGM(MSG_M115_REPORT);
  
    #if ENABLED(EXTENDED_CAPABILITIES_REPORT)
  
      // EEPROM (M500, M501)
      #if ENABLED(EEPROM_SETTINGS)
        SERIAL_PROTOCOLLNPGM("Cap:EEPROM:1");
      #else
        SERIAL_PROTOCOLLNPGM("Cap:EEPROM:0");
      #endif
  
      // AUTOREPORT_TEMP (M155)
      #if ENABLED(AUTO_REPORT_TEMPERATURES)
        SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:1");
      #else
        SERIAL_PROTOCOLLNPGM("Cap:AUTOREPORT_TEMP:0");
      #endif
  
      // PROGRESS (M530 S L, M531 <file>, M532 X L)
      SERIAL_PROTOCOLLNPGM("Cap:PROGRESS:0");
  
      // AUTOLEVEL (G29)
      #if HAS_ABL
        SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:1");
      #else
        SERIAL_PROTOCOLLNPGM("Cap:AUTOLEVEL:0");
      #endif
  
      // Z_PROBE (G30)
      #if HAS_BED_PROBE
        SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:1");
      #else
        SERIAL_PROTOCOLLNPGM("Cap:Z_PROBE:0");
      #endif
  
      // SOFTWARE_POWER (G30)
      #if HAS_POWER_SWITCH
        SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:1");
      #else
        SERIAL_PROTOCOLLNPGM("Cap:SOFTWARE_POWER:0");
      #endif
  
      // TOGGLE_LIGHTS (M355)
      #if HAS_CASE_LIGHT
        SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:1");
      #else
        SERIAL_PROTOCOLLNPGM("Cap:TOGGLE_LIGHTS:0");
      #endif
  
      // EMERGENCY_PARSER (M108, M112, M410)
      #if ENABLED(EMERGENCY_PARSER)
        SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:1");
      #else
        SERIAL_PROTOCOLLNPGM("Cap:EMERGENCY_PARSER:0");
      #endif
  
    #endif // EXTENDED_CAPABILITIES_REPORT
  }
  
  /**
   * M117: Set LCD Status Message
   */
  inline void gcode_M117() {
    lcd_setstatus(current_command_args);
  }
  
  /**
   * M119: Output endstop states to serial output
   */
  inline void gcode_M119() { endstops.M119(); }
  
  /**
   * M120: Enable endstops and set non-homing endstop state to "enabled"
   */
  inline void gcode_M120() { endstops.enable_globally(true); }
  
  /**
   * M121: Disable endstops and set non-homing endstop state to "disabled"
   */
  inline void gcode_M121() { endstops.enable_globally(false); }
  
  #if ENABLED(HAVE_TMC2130DRIVER)
  
    /**
     * M122: Output Trinamic TMC2130 status to serial output. Very bad formatting.
     */
  
    static void tmc2130_report(Trinamic_TMC2130 &stepr, const char *name) {
      stepr.read_STAT();
      SERIAL_PROTOCOL(name);
      SERIAL_PROTOCOL(": ");
      stepr.isReset() ? SERIAL_PROTOCOLPGM("RESET ") : SERIAL_PROTOCOLPGM("----- ");
      stepr.isError() ? SERIAL_PROTOCOLPGM("ERROR ") : SERIAL_PROTOCOLPGM("----- ");
      stepr.isStallguard() ? SERIAL_PROTOCOLPGM("SLGRD ") : SERIAL_PROTOCOLPGM("----- ");
      stepr.isStandstill() ? SERIAL_PROTOCOLPGM("STILL ") : SERIAL_PROTOCOLPGM("----- ");
      SERIAL_PROTOCOLLN(stepr.debug());
    }
  
    inline void gcode_M122() {
      SERIAL_PROTOCOLLNPGM("Reporting TMC2130 status");
      #if ENABLED(X_IS_TMC2130)
        tmc2130_report(stepperX, "X");
      #endif
      #if ENABLED(X2_IS_TMC2130)
        tmc2130_report(stepperX2, "X2");
      #endif
      #if ENABLED(Y_IS_TMC2130)
        tmc2130_report(stepperY, "Y");
      #endif
      #if ENABLED(Y2_IS_TMC2130)
        tmc2130_report(stepperY2, "Y2");
      #endif
      #if ENABLED(Z_IS_TMC2130)
        tmc2130_report(stepperZ, "Z");
      #endif
      #if ENABLED(Z2_IS_TMC2130)
        tmc2130_report(stepperZ2, "Z2");
      #endif
      #if ENABLED(E0_IS_TMC2130)
        tmc2130_report(stepperE0, "E0");
      #endif
      #if ENABLED(E1_IS_TMC2130)
        tmc2130_report(stepperE1, "E1");
      #endif
      #if ENABLED(E2_IS_TMC2130)
        tmc2130_report(stepperE2, "E2");
      #endif
      #if ENABLED(E3_IS_TMC2130)
        tmc2130_report(stepperE3, "E3");
      #endif
    }
  #endif // HAVE_TMC2130DRIVER
  
  #if ENABLED(BLINKM) || ENABLED(RGB_LED)
  
    void set_led_color(const uint8_t r, const uint8_t g, const uint8_t b) {
  
      #if ENABLED(BLINKM)
  
        // This variant uses i2c to send the RGB components to the device.
        SendColors(r, g, b);
  
      #else
  
        // This variant uses 3 separate pins for the RGB components.
        // If the pins can do PWM then their intensity will be set.
        digitalWrite(RGB_LED_R_PIN, r ? HIGH : LOW);
        digitalWrite(RGB_LED_G_PIN, g ? HIGH : LOW);
        digitalWrite(RGB_LED_B_PIN, b ? HIGH : LOW);
        analogWrite(RGB_LED_R_PIN, r);
        analogWrite(RGB_LED_G_PIN, g);
        analogWrite(RGB_LED_B_PIN, b);
  
      #endif
    }
  
    /**
     * M150: Set Status LED Color - Use R-U-B for R-G-B
     *
     * Always sets all 3 components. If a component is left out, set to 0.
     *
     * Examples:
     *
     *   M150 R255       ; Turn LED red
     *   M150 R255 U127  ; Turn LED orange (PWM only)
     *   M150            ; Turn LED off
     *   M150 R U B      ; Turn LED white
     *
     */
    inline void gcode_M150() {
      set_led_color(
        code_seen('R') ? (code_has_value() ? code_value_byte() : 255) : 0,
        code_seen('U') ? (code_has_value() ? code_value_byte() : 255) : 0,
        code_seen('B') ? (code_has_value() ? code_value_byte() : 255) : 0
      );
    }
  
  #endif // BLINKM || RGB_LED
  
  /**
   * M200: Set filament diameter and set E axis units to cubic units
   *
   *    T<extruder> - Optional extruder number. Current extruder if omitted.
   *    D<linear> - Diameter of the filament. Use "D0" to switch back to linear units on the E axis.
   */
  inline void gcode_M200() {
  
    if (get_target_extruder_from_command(200)) return;
  
    if (code_seen('D')) {
      // 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 = (code_value_linear_units() != 0.0);
      if (volumetric_enabled) {
        filament_size[target_extruder] = code_value_linear_units();
        // make sure all extruders have some sane value for the filament size
        for (uint8_t i = 0; i < COUNT(filament_size); 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)
   *
   *       With multiple extruders use T to specify which one.
   */
  inline void gcode_M201() {
  
    GET_TARGET_EXTRUDER(201);
  
    LOOP_XYZE(i) {
      if (code_seen(axis_codes[i])) {
        const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
        planner.max_acceleration_mm_per_s2[a] = code_value_axis_units(a);
      }
    }
    // 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)
    planner.reset_acceleration_rates();
  }
  
  #if 0 // Not used for Sprinter/grbl gen6
    inline void gcode_M202() {
      LOOP_XYZE(i) {
        if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
      }
    }
  #endif
  
  
  /**
   * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
   *
   *       With multiple extruders use T to specify which one.
   */
  inline void gcode_M203() {
  
    GET_TARGET_EXTRUDER(203);
  
    LOOP_XYZE(i)
      if (code_seen(axis_codes[i])) {
        const uint8_t a = i + (i == E_AXIS ? TARGET_EXTRUDER : 0);
        planner.max_feedrate_mm_s[a] = code_value_axis_units(a);
      }
  }
  
  /**
   * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000)
   *
   *    P = Printing moves
   *    R = Retract only (no X, Y, Z) moves
   *    T = 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 (code_seen('S')) {  // Kept for legacy compatibility. Should NOT BE USED for new developments.
      planner.travel_acceleration = planner.acceleration = code_value_linear_units();
      SERIAL_ECHOLNPAIR("Setting Print and Travel Acceleration: ", planner.acceleration);
    }
    if (code_seen('P')) {
      planner.acceleration = code_value_linear_units();
      SERIAL_ECHOLNPAIR("Setting Print Acceleration: ", planner.acceleration);
    }
    if (code_seen('R')) {
      planner.retract_acceleration = code_value_linear_units();
      SERIAL_ECHOLNPAIR("Setting Retract Acceleration: ", planner.retract_acceleration);
    }
    if (code_seen('T')) {
      planner.travel_acceleration = code_value_linear_units();
      SERIAL_ECHOLNPAIR("Setting Travel Acceleration: ", planner.travel_acceleration);
    }
  }
  
  /**
   * M205: Set Advanced Settings
   *
   *    S = Min Feed Rate (units/s)
   *    T = Min Travel Feed Rate (units/s)
   *    B = Min Segment Time (µs)
   *    X = Max X Jerk (units/sec^2)
   *    Y = Max Y Jerk (units/sec^2)
   *    Z = Max Z Jerk (units/sec^2)
   *    E = Max E Jerk (units/sec^2)
   */
  inline void gcode_M205() {
    if (code_seen('S')) planner.min_feedrate_mm_s = code_value_linear_units();
    if (code_seen('T')) planner.min_travel_feedrate_mm_s = code_value_linear_units();
    if (code_seen('B')) planner.min_segment_time = code_value_millis();
    if (code_seen('X')) planner.max_jerk[X_AXIS] = code_value_axis_units(X_AXIS);
    if (code_seen('Y')) planner.max_jerk[Y_AXIS] = code_value_axis_units(Y_AXIS);
    if (code_seen('Z')) planner.max_jerk[Z_AXIS] = code_value_axis_units(Z_AXIS);
    if (code_seen('E')) planner.max_jerk[E_AXIS] = code_value_axis_units(E_AXIS);
  }
  
  /**
   * M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
   */
  inline void gcode_M206() {
    LOOP_XYZ(i)
      if (code_seen(axis_codes[i]))
        set_home_offset((AxisEnum)i, code_value_axis_units(i));
  
    #if ENABLED(MORGAN_SCARA)
      if (code_seen('T')) set_home_offset(A_AXIS, code_value_axis_units(A_AXIS)); // Theta
      if (code_seen('P')) set_home_offset(B_AXIS, code_value_axis_units(B_AXIS)); // Psi
    #endif
  
    SYNC_PLAN_POSITION_KINEMATIC();
    report_current_position();
  }
  
  #if ENABLED(DELTA)
    /**
     * M665: Set delta configurations
     *
     *    L = diagonal rod
     *    R = delta radius
     *    S = segments per second
     *    A = Alpha (Tower 1) diagonal rod trim
     *    B = Beta (Tower 2) diagonal rod trim
     *    C = Gamma (Tower 3) diagonal rod trim
     */
    inline void gcode_M665() {
      if (code_seen('L')) delta_diagonal_rod = code_value_linear_units();
      if (code_seen('R')) delta_radius = code_value_linear_units();
      if (code_seen('S')) delta_segments_per_second = code_value_float();
      if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units();
      if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units();
      if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units();
      recalc_delta_settings(delta_radius, delta_diagonal_rod);
    }
    /**
     * M666: Set delta endstop adjustment
     */
    inline void gcode_M666() {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) {
          SERIAL_ECHOLNPGM(">>> gcode_M666");
        }
      #endif
      LOOP_XYZ(i) {
        if (code_seen(axis_codes[i])) {
          endstop_adj[i] = code_value_axis_units(i);
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) {
              SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
              SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
            }
          #endif
        }
      }
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (DEBUGGING(LEVELING)) {
          SERIAL_ECHOLNPGM("<<< gcode_M666");
        }
      #endif
    }
  
  #elif ENABLED(Z_DUAL_ENDSTOPS) // !DELTA && ENABLED(Z_DUAL_ENDSTOPS)
  
    /**
     * M666: For Z Dual Endstop setup, set z axis offset to the z2 axis.
     */
    inline void gcode_M666() {
      if (code_seen('Z')) z_endstop_adj = code_value_axis_units(Z_AXIS);
      SERIAL_ECHOLNPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
    }
  
  #endif // !DELTA && Z_DUAL_ENDSTOPS
  
  #if ENABLED(FWRETRACT)
  
    /**
     * M207: Set firmware retraction values
     *
     *   S[+units]    retract_length
     *   W[+units]    retract_length_swap (multi-extruder)
     *   F[units/min] retract_feedrate_mm_s
     *   Z[units]     retract_zlift
     */
    inline void gcode_M207() {
      if (code_seen('S')) retract_length = code_value_axis_units(E_AXIS);
      if (code_seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
      if (code_seen('Z')) retract_zlift = code_value_axis_units(Z_AXIS);
      #if EXTRUDERS > 1
        if (code_seen('W')) retract_length_swap = code_value_axis_units(E_AXIS);
      #endif
    }
  
    /**
     * M208: Set firmware un-retraction values
     *
     *   S[+units]    retract_recover_length (in addition to M207 S*)
     *   W[+units]    retract_recover_length_swap (multi-extruder)
     *   F[units/min] retract_recover_feedrate_mm_s
     */
    inline void gcode_M208() {
      if (code_seen('S')) retract_recover_length = code_value_axis_units(E_AXIS);
      if (code_seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(code_value_axis_units(E_AXIS));
      #if EXTRUDERS > 1
        if (code_seen('W')) retract_recover_length_swap = code_value_axis_units(E_AXIS);
      #endif
    }
  
    /**
     * M209: Enable automatic retract (M209 S1)
     *   For slicers that don't support G10/11, reversed extrude-only
     *   moves will be classified as retraction.
     */
    inline void gcode_M209() {
      if (code_seen('S')) {
        autoretract_enabled = code_value_bool();
        for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
      }
    }
  
  #endif // FWRETRACT
  
  /**
   * M211: Enable, Disable, and/or Report software endstops
   *
   * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
   */
  inline void gcode_M211() {
    SERIAL_ECHO_START;
    #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
      if (code_seen('S')) soft_endstops_enabled = code_value_bool();
    #endif
    #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
      SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
      serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
    #else
      SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
      SERIAL_ECHOPGM(MSG_OFF);
    #endif
    SERIAL_ECHOPGM(MSG_SOFT_MIN);
    SERIAL_ECHOPAIR(    MSG_X, soft_endstop_min[X_AXIS]);
    SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
    SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
    SERIAL_ECHOPGM(MSG_SOFT_MAX);
    SERIAL_ECHOPAIR(    MSG_X, soft_endstop_max[X_AXIS]);
    SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
    SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
  }
  
  #if HOTENDS > 1
  
    /**
     * M218 - set hotend offset (in linear units)
     *
     *   T<tool>
     *   X<xoffset>
     *   Y<yoffset>
     *   Z<zoffset> - Available with DUAL_X_CARRIAGE and SWITCHING_EXTRUDER
     */
    inline void gcode_M218() {
      if (get_target_extruder_from_command(218) || target_extruder == 0) return;
  
      if (code_seen('X')) hotend_offset[X_AXIS][target_extruder] = code_value_axis_units(X_AXIS);
      if (code_seen('Y')) hotend_offset[Y_AXIS][target_extruder] = code_value_axis_units(Y_AXIS);
  
      #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
        if (code_seen('Z')) hotend_offset[Z_AXIS][target_extruder] = code_value_axis_units(Z_AXIS);
      #endif
  
      SERIAL_ECHO_START;
      SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
      HOTEND_LOOP() {
        SERIAL_CHAR(' ');
        SERIAL_ECHO(hotend_offset[X_AXIS][e]);
        SERIAL_CHAR(',');
        SERIAL_ECHO(hotend_offset[Y_AXIS][e]);
        #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(SWITCHING_EXTRUDER)
          SERIAL_CHAR(',');
          SERIAL_ECHO(hotend_offset[Z_AXIS][e]);
        #endif
      }
      SERIAL_EOL;
    }
  
  #endif // HOTENDS > 1
  
  /**
   * M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
   */
  inline void gcode_M220() {
    if (code_seen('S')) feedrate_percentage = code_value_int();
  }
  
  /**
   * M221: Set extrusion percentage (M221 T0 S95)
   */
  inline void gcode_M221() {
    if (get_target_extruder_from_command(221)) return;
    if (code_seen('S'))
      flow_percentage[target_extruder] = code_value_int();
  }
  
  /**
   * 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_int() : -1; // required pin state - default is inverted
  
      if (pin_state >= -1 && pin_state <= 1 && pin_number > -1 && !pin_is_protected(pin_number)) {
  
        int target = LOW;
  
        stepper.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_state -1 0 1 && pin_number > -1
    } // code_seen('P')
  }
  
  #if ENABLED(EXPERIMENTAL_I2CBUS)
  
    /**
     * M260: Send data to a I2C slave device
     *
     * This is a PoC, the formating and arguments for the GCODE will
     * change to be more compatible, the current proposal is:
     *
     *  M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
     *
     *  M260 B<byte-1 value in base 10>
     *  M260 B<byte-2 value in base 10>
     *  M260 B<byte-3 value in base 10>
     *
     *  M260 S1 ; Send the buffered data and reset the buffer
     *  M260 R1 ; Reset the buffer without sending data
     *
     */
    inline void gcode_M260() {
      // Set the target address
      if (code_seen('A')) i2c.address(code_value_byte());
  
      // Add a new byte to the buffer
      if (code_seen('B')) i2c.addbyte(code_value_byte());
  
      // Flush the buffer to the bus
      if (code_seen('S')) i2c.send();
  
      // Reset and rewind the buffer
      else if (code_seen('R')) i2c.reset();
    }
  
    /**
     * M261: Request X bytes from I2C slave device
     *
     * Usage: M261 A<slave device address base 10> B<number of bytes>
     */
    inline void gcode_M261() {
      if (code_seen('A')) i2c.address(code_value_byte());
  
      uint8_t bytes = code_seen('B') ? code_value_byte() : 1;
  
      if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
        i2c.relay(bytes);
      }
      else {
        SERIAL_ERROR_START;
        SERIAL_ERRORLN("Bad i2c request");
      }
    }
  
  #endif // EXPERIMENTAL_I2CBUS
  
  #if HAS_SERVOS
  
    /**
     * M280: Get or set servo position. P<index> [S<angle>]
     */
    inline void gcode_M280() {
      if (!code_seen('P')) return;
      int servo_index = code_value_int();
      if (servo_index >= 0 && servo_index < NUM_SERVOS) {
        if (code_seen('S'))
          MOVE_SERVO(servo_index, code_value_int());
        else {
          SERIAL_ECHO_START;
          SERIAL_ECHOPAIR(" Servo ", servo_index);
          SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
        }
      }
      else {
        SERIAL_ERROR_START;
        SERIAL_ECHOPAIR("Servo ", servo_index);
        SERIAL_ECHOLNPGM(" out of range");
      }
    }
  
  #endif // HAS_SERVOS
  
  #if HAS_BUZZER
  
    /**
     * M300: Play beep sound S<frequency Hz> P<duration ms>
     */
    inline void gcode_M300() {
      uint16_t const frequency = code_seen('S') ? code_value_ushort() : 260;
      uint16_t duration = code_seen('P') ? code_value_ushort() : 1000;
  
      // Limits the tone duration to 0-5 seconds.
      NOMORE(duration, 5000);
  
      BUZZ(duration, frequency);
    }
  
  #endif // HAS_BUZZER
  
  #if ENABLED(PIDTEMP)
  
    /**
     * M301: Set PID parameters P I D (and optionally C, L)
     *
     *   P[float] Kp term
     *   I[float] Ki term (unscaled)
     *   D[float] Kd term (unscaled)
     *
     * With PID_EXTRUSION_SCALING:
     *
     *   C[float] Kc term
     *   L[float] LPQ length
     */
    inline void gcode_M301() {
  
      // multi-extruder PID patch: M301 updates or prints a single extruder's PID values
      // default behaviour (omitting E parameter) is to update for extruder 0 only
      int e = code_seen('E') ? code_value_int() : 0; // extruder being updated
  
      if (e < HOTENDS) { // catch bad input value
        if (code_seen('P')) PID_PARAM(Kp, e) = code_value_float();
        if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value_float());
        if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value_float());
        #if ENABLED(PID_EXTRUSION_SCALING)
          if (code_seen('C')) PID_PARAM(Kc, e) = code_value_float();
          if (code_seen('L')) lpq_len = code_value_float();
          NOMORE(lpq_len, LPQ_MAX_LEN);
        #endif
  
        thermalManager.updatePID();
        SERIAL_ECHO_START;
        #if ENABLED(PID_PARAMS_PER_HOTEND)
          SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
        #endif // PID_PARAMS_PER_HOTEND
        SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
        SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
        SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
        #if ENABLED(PID_EXTRUSION_SCALING)
          //Kc does not have scaling applied above, or in resetting defaults
          SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
        #endif
        SERIAL_EOL;
      }
      else {
        SERIAL_ERROR_START;
        SERIAL_ERRORLN(MSG_INVALID_EXTRUDER);
      }
    }
  
  #endif // PIDTEMP
  
  #if ENABLED(PIDTEMPBED)
  
    inline void gcode_M304() {
      if (code_seen('P')) thermalManager.bedKp = code_value_float();
      if (code_seen('I')) thermalManager.bedKi = scalePID_i(code_value_float());
      if (code_seen('D')) thermalManager.bedKd = scalePID_d(code_value_float());
  
      thermalManager.updatePID();
  
      SERIAL_ECHO_START;
      SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
      SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
      SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
    }
  
  #endif // PIDTEMPBED
  
  #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
  
  #if HAS_LCD_CONTRAST
  
    /**
     * M250: Read and optionally set the LCD contrast
     */
    inline void gcode_M250() {
      if (code_seen('C')) set_lcd_contrast(code_value_int());
      SERIAL_PROTOCOLPGM("lcd contrast value: ");
      SERIAL_PROTOCOL(lcd_contrast);
      SERIAL_EOL;
    }
  
  #endif // HAS_LCD_CONTRAST
  
  #if ENABLED(PREVENT_COLD_EXTRUSION)
  
    /**
     * M302: Allow cold extrudes, or set the minimum extrude temperature
     *
     *       S<temperature> sets the minimum extrude temperature
     *       P<bool> enables (1) or disables (0) cold extrusion
     *
     *  Examples:
     *
     *       M302         ; report current cold extrusion state
     *       M302 P0      ; enable cold extrusion checking
     *       M302 P1      ; disables cold extrusion checking
     *       M302 S0      ; always allow extrusion (disables checking)
     *       M302 S170    ; only allow extrusion above 170
     *       M302 S170 P1 ; set min extrude temp to 170 but leave disabled
     */
    inline void gcode_M302() {
      bool seen_S = code_seen('S');
      if (seen_S) {
        thermalManager.extrude_min_temp = code_value_temp_abs();
        thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0);
      }
  
      if (code_seen('P'))
        thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || code_value_bool();
      else if (!seen_S) {
        // Report current state
        SERIAL_ECHO_START;
        SERIAL_ECHOPAIR("Cold extrudes are ", (thermalManager.allow_cold_extrude ? "en" : "dis"));
        SERIAL_ECHOPAIR("abled (min temp ", int(thermalManager.extrude_min_temp + 0.5));
        SERIAL_ECHOLNPGM("C)");
      }
    }
  
  #endif // PREVENT_COLD_EXTRUSION
  
  /**
   * M303: PID relay autotune
   *
   *       S<temperature> sets the target temperature. (default 150C)
   *       E<extruder> (-1 for the bed) (default 0)
   *       C<cycles>
   *       U<bool> with a non-zero value will apply the result to current settings
   */
  inline void gcode_M303() {
    #if HAS_PID_HEATING
      int e = code_seen('E') ? code_value_int() : 0;
      int c = code_seen('C') ? code_value_int() : 5;
      bool u = code_seen('U') && code_value_bool();
  
      float temp = code_seen('S') ? code_value_temp_abs() : (e < 0 ? 70.0 : 150.0);
  
      if (e >= 0 && e < HOTENDS)
        target_extruder = e;
  
      KEEPALIVE_STATE(NOT_BUSY); // don't send "busy: processing" messages during autotune output
  
      thermalManager.PID_autotune(temp, e, c, u);
  
      KEEPALIVE_STATE(IN_HANDLER);
    #else
      SERIAL_ERROR_START;
      SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
    #endif
  }
  
  #if ENABLED(MORGAN_SCARA)
  
    bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
      if (IsRunning()) {
        forward_kinematics_SCARA(delta_a, delta_b);
        destination[X_AXIS] = LOGICAL_X_POSITION(cartes[X_AXIS]);
        destination[Y_AXIS] = LOGICAL_Y_POSITION(cartes[Y_AXIS]);
        destination[Z_AXIS] = current_position[Z_AXIS];
        prepare_move_to_destination();
        return true;
      }
      return false;
    }
  
    /**
     * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
     */
    inline bool gcode_M360() {
      SERIAL_ECHOLNPGM(" 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() {
      SERIAL_ECHOLNPGM(" 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() {
      SERIAL_ECHOLNPGM(" 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() {
      SERIAL_ECHOLNPGM(" 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() {
      SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
      return SCARA_move_to_cal(45, 135);
    }
  
  #endif // SCARA
  
  #if ENABLED(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:
          SERIAL_ECHO_START;
          SERIAL_ECHOLNPGM(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() { stepper.synchronize(); }
  
  #if HAS_BED_PROBE
  
    /**
     * M401: Engage Z Servo endstop if available
     */
    inline void gcode_M401() { DEPLOY_PROBE(); }
  
    /**
     * M402: Retract Z Servo endstop if enabled
     */
    inline void gcode_M402() { STOW_PROBE(); }
  
  #endif // HAS_BED_PROBE
  
  #if ENABLED(FILAMENT_WIDTH_SENSOR)
  
    /**
     * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0>
     */
    inline void gcode_M404() {
      if (code_seen('W')) {
        filament_width_nominal = code_value_linear_units();
      }
      else {
        SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
        SERIAL_PROTOCOLLN(filament_width_nominal);
      }
    }
  
    /**
     * M405: Turn on filament sensor for control
     */
    inline void gcode_M405() {
      // This is technically a linear measurement, but since it's quantized to centimeters and is a different unit than
      // everything else, it uses code_value_int() instead of code_value_linear_units().
      if (code_seen('D')) meas_delay_cm = code_value_int();
      NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);
  
      if (filwidth_delay_index[1] == -1) { // Initialize the ring buffer if not done since startup
        int temp_ratio = thermalManager.widthFil_to_size_ratio();
  
        for (uint8_t i = 0; i < COUNT(measurement_delay); ++i)
          measurement_delay[i] = temp_ratio - 100;  // Subtract 100 to scale within a signed byte
  
        filwidth_delay_index[0] = filwidth_delay_index[1] = 0;
      }
  
      filament_sensor = true;
  
      //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
      //SERIAL_PROTOCOL(filament_width_meas);
      //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
      //SERIAL_PROTOCOL(flow_percentage[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() {
      SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
      SERIAL_PROTOCOLLN(filament_width_meas);
    }
  
  #endif // FILAMENT_WIDTH_SENSOR
  
  void quickstop_stepper() {
    stepper.quick_stop();
    stepper.synchronize();
    set_current_from_steppers_for_axis(ALL_AXES);
    SYNC_PLAN_POSITION_KINEMATIC();
  }
  
  #if PLANNER_LEVELING
    /**
     * M420: Enable/Disable Bed Leveling and/or set the Z fade height.
     *
     *       S[bool]   Turns leveling on or off
     *       Z[height] Sets the Z fade height (0 or none to disable)
     */
    inline void gcode_M420() {
      if (code_seen('S')) set_bed_leveling_enabled(code_value_bool());
      #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
        if (code_seen('Z')) set_z_fade_height(code_value_linear_units());
      #endif
    }
  #endif
  
  #if ENABLED(MESH_BED_LEVELING)
  
    /**
     * M421: Set a single Mesh Bed Leveling Z coordinate
     * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
     */
    inline void gcode_M421() {
      int8_t px = 0, py = 0;
      float z = 0;
      bool hasX, hasY, hasZ, hasI, hasJ;
      if ((hasX = code_seen('X'))) px = mbl.probe_index_x(code_value_axis_units(X_AXIS));
      if ((hasY = code_seen('Y'))) py = mbl.probe_index_y(code_value_axis_units(Y_AXIS));
      if ((hasI = code_seen('I'))) px = code_value_axis_units(X_AXIS);
      if ((hasJ = code_seen('J'))) py = code_value_axis_units(Y_AXIS);
      if ((hasZ = code_seen('Z'))) z = code_value_axis_units(Z_AXIS);
  
      if (hasX && hasY && hasZ) {
  
        if (px >= 0 && py >= 0)
          mbl.set_z(px, py, z);
        else {
          SERIAL_ERROR_START;
          SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
        }
      }
      else if (hasI && hasJ && hasZ) {
        if (px >= 0 && px < MESH_NUM_X_POINTS && py >= 0 && py < MESH_NUM_Y_POINTS)
          mbl.set_z(px, py, z);
        else {
          SERIAL_ERROR_START;
          SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
        }
      }
      else {
        SERIAL_ERROR_START;
        SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
      }
    }
  
  #endif
  
  /**
   * 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;
    LOOP_XYZ(i) {
      if (axis_homed[i]) {
        float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos((AxisEnum)i) : 0,
              diff = current_position[i] - LOGICAL_POSITION(base, i);
        if (diff > -20 && diff < 20) {
          set_home_offset((AxisEnum)i, home_offset[i] - diff);
        }
        else {
          SERIAL_ERROR_START;
          SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
          LCD_ALERTMESSAGEPGM("Err: Too far!");
          BUZZ(200, 40);
          err = true;
          break;
        }
      }
    }
  
    if (!err) {
      SYNC_PLAN_POSITION_KINEMATIC();
      report_current_position();
      LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
      BUZZ(200, 659);
      BUZZ(200, 698);
    }
  }
  
  /**
   * 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_bool());
  }
  
  #if ENABLED(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')) stepper.abort_on_endstop_hit = code_value_bool();
    }
  
  #endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
  
  #if HAS_BED_PROBE
  
    inline void gcode_M851() {
  
      SERIAL_ECHO_START;
      SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
      SERIAL_CHAR(' ');
  
      if (code_seen('Z')) {
        float value = code_value_axis_units(Z_AXIS);
        if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
          zprobe_zoffset = value;
          SERIAL_ECHO(zprobe_zoffset);
        }
        else {
          SERIAL_ECHOPAIR(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
          SERIAL_CHAR(' ');
          SERIAL_ECHOPAIR(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
        }
      }
      else {
        SERIAL_ECHOPAIR(": ", zprobe_zoffset);
      }
  
      SERIAL_EOL;
    }
  
  #endif // HAS_BED_PROBE
  
  #if ENABLED(FILAMENT_CHANGE_FEATURE)
  
    /**
     * 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 (thermalManager.tooColdToExtrude(active_extruder)) {
        SERIAL_ERROR_START;
        SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
        return;
      }
  
      // Show initial message and wait for synchronize steppers
      lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INIT);
      stepper.synchronize();
  
      float lastpos[NUM_AXIS];
  
      // Save current position of all axes
      LOOP_XYZE(i)
        lastpos[i] = destination[i] = current_position[i];
  
      // Define runplan for move axes
      #if IS_KINEMATIC
        #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder);
      #else
        #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S);
      #endif
  
      KEEPALIVE_STATE(IN_HANDLER);
  
      // Initial retract before move to filament change position
      if (code_seen('E')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
      #if defined(FILAMENT_CHANGE_RETRACT_LENGTH) && FILAMENT_CHANGE_RETRACT_LENGTH > 0
        else destination[E_AXIS] -= FILAMENT_CHANGE_RETRACT_LENGTH;
      #endif
  
      RUNPLAN(FILAMENT_CHANGE_RETRACT_FEEDRATE);
  
      // Lift Z axis
      float z_lift = code_seen('Z') ? code_value_axis_units(Z_AXIS) :
        #if defined(FILAMENT_CHANGE_Z_ADD) && FILAMENT_CHANGE_Z_ADD > 0
          FILAMENT_CHANGE_Z_ADD
        #else
          0
        #endif
      ;
  
      if (z_lift > 0) {
        destination[Z_AXIS] += z_lift;
        NOMORE(destination[Z_AXIS], Z_MAX_POS);
        RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
      }
  
      // Move XY axes to filament exchange position
      if (code_seen('X')) destination[X_AXIS] = code_value_axis_units(X_AXIS);
      #ifdef FILAMENT_CHANGE_X_POS
        else destination[X_AXIS] = FILAMENT_CHANGE_X_POS;
      #endif
  
      if (code_seen('Y')) destination[Y_AXIS] = code_value_axis_units(Y_AXIS);
      #ifdef FILAMENT_CHANGE_Y_POS
        else destination[Y_AXIS] = FILAMENT_CHANGE_Y_POS;
      #endif
  
      RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
  
      stepper.synchronize();
      lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_UNLOAD);
  
      // Unload filament
      if (code_seen('L')) destination[E_AXIS] += code_value_axis_units(E_AXIS);
      #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
        else destination[E_AXIS] -= FILAMENT_CHANGE_UNLOAD_LENGTH;
      #endif
  
      RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
  
      // Synchronize steppers and then disable extruders steppers for manual filament changing
      stepper.synchronize();
      disable_e0();
      disable_e1();
      disable_e2();
      disable_e3();
      delay(100);
  
      #if HAS_BUZZER
        millis_t next_buzz = 0;
      #endif
  
      // Wait for filament insert by user and press button
      lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_INSERT);
  
      // LCD click or M108 will clear this
      wait_for_user = true;
  
      while (wait_for_user) {
        #if HAS_BUZZER
          millis_t ms = millis();
          if (ms >= next_buzz) {
            BUZZ(300, 2000);
            next_buzz = ms + 2500; // Beep every 2.5s while waiting
          }
        #endif
        idle(true);
      }
  
      // Show load message
      lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_LOAD);
  
      // Load filament
      if (code_seen('L')) destination[E_AXIS] -= code_value_axis_units(E_AXIS);
      #if defined(FILAMENT_CHANGE_LOAD_LENGTH) && FILAMENT_CHANGE_LOAD_LENGTH > 0
        else destination[E_AXIS] += FILAMENT_CHANGE_LOAD_LENGTH;
      #endif
  
      RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
      stepper.synchronize();
  
      #if defined(FILAMENT_CHANGE_EXTRUDE_LENGTH) && FILAMENT_CHANGE_EXTRUDE_LENGTH > 0
        do {
          // Extrude filament to get into hotend
          lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_EXTRUDE);
          destination[E_AXIS] += FILAMENT_CHANGE_EXTRUDE_LENGTH;
          RUNPLAN(FILAMENT_CHANGE_EXTRUDE_FEEDRATE);
          stepper.synchronize();
          // Ask user if more filament should be extruded
          KEEPALIVE_STATE(PAUSED_FOR_USER);
          lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_OPTION);
          while (filament_change_menu_response == FILAMENT_CHANGE_RESPONSE_WAIT_FOR) idle(true);
          KEEPALIVE_STATE(IN_HANDLER);
        } while (filament_change_menu_response != FILAMENT_CHANGE_RESPONSE_RESUME_PRINT);
      #endif
  
      lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_RESUME);
  
      KEEPALIVE_STATE(IN_HANDLER);
  
      // Set extruder to saved position
      destination[E_AXIS] = current_position[E_AXIS] = lastpos[E_AXIS];
      planner.set_e_position_mm(current_position[E_AXIS]);
  
      #if IS_KINEMATIC
        // Move XYZ to starting position
        planner.buffer_line_kinematic(lastpos, FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
      #else
        // Move XY to starting position, then Z
        destination[X_AXIS] = lastpos[X_AXIS];
        destination[Y_AXIS] = lastpos[Y_AXIS];
        RUNPLAN(FILAMENT_CHANGE_XY_FEEDRATE);
        destination[Z_AXIS] = lastpos[Z_AXIS];
        RUNPLAN(FILAMENT_CHANGE_Z_FEEDRATE);
      #endif
      stepper.synchronize();
  
      #if ENABLED(FILAMENT_RUNOUT_SENSOR)
        filament_ran_out = false;
      #endif
  
      // Show status screen
      lcd_filament_change_show_message(FILAMENT_CHANGE_MESSAGE_STATUS);
    }
  
  #endif // FILAMENT_CHANGE_FEATURE
  
  #if ENABLED(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
     *                         units 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() {
      stepper.synchronize();
      if (code_seen('S')) dual_x_carriage_mode = (DualXMode)code_value_byte();
      switch (dual_x_carriage_mode) {
        case DXC_FULL_CONTROL_MODE:
        case DXC_AUTO_PARK_MODE:
          break;
        case DXC_DUPLICATION_MODE:
          if (code_seen('X')) duplicate_extruder_x_offset = max(code_value_axis_units(X_AXIS), X2_MIN_POS - x_home_pos(0));
          if (code_seen('R')) duplicate_extruder_temp_offset = code_value_temp_diff();
          SERIAL_ECHO_START;
          SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
          SERIAL_CHAR(' ');
          SERIAL_ECHO(hotend_offset[X_AXIS][0]);
          SERIAL_CHAR(',');
          SERIAL_ECHO(hotend_offset[Y_AXIS][0]);
          SERIAL_CHAR(' ');
          SERIAL_ECHO(duplicate_extruder_x_offset);
          SERIAL_CHAR(',');
          SERIAL_ECHOLN(hotend_offset[Y_AXIS][1]);
          break;
        default:
          dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
          break;
      }
      active_extruder_parked = false;
      extruder_duplication_enabled = false;
      delayed_move_time = 0;
    }
  
  #elif ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
  
    inline void gcode_M605() {
      stepper.synchronize();
      extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
      SERIAL_ECHO_START;
      SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
    }
  
  #endif // M605
  
  #if ENABLED(LIN_ADVANCE)
    /**
     * M905: Set advance factor
     */
    inline void gcode_M905() {
      stepper.synchronize();
      planner.advance_M905(code_seen('K') ? code_value_float() : -1.0);
    }
  #endif
  
  /**
   * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
   */
  inline void gcode_M907() {
    #if HAS_DIGIPOTSS
      LOOP_XYZE(i)
      if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
      if (code_seen('B')) stepper.digipot_current(4, code_value_int());
      if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
    #elif HAS_MOTOR_CURRENT_PWM
      #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
        if (code_seen('X')) stepper.digipot_current(0, code_value_int());
      #endif
      #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
        if (code_seen('Z')) stepper.digipot_current(1, code_value_int());
      #endif
      #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
        if (code_seen('E')) stepper.digipot_current(2, code_value_int());
      #endif
    #endif
    #if ENABLED(DIGIPOT_I2C)
      // this one uses actual amps in floating point
      LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
      // 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_float());
    #endif
    #if ENABLED(DAC_STEPPER_CURRENT)
      if (code_seen('S')) {
        float dac_percent = code_value_float();
        for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
      }
      LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
    #endif
  }
  
  #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  
    /**
     * M908: Control digital trimpot directly (M908 P<pin> S<current>)
     */
    inline void gcode_M908() {
      #if HAS_DIGIPOTSS
        stepper.digitalPotWrite(
          code_seen('P') ? code_value_int() : 0,
          code_seen('S') ? code_value_int() : 0
        );
      #endif
      #ifdef DAC_STEPPER_CURRENT
        dac_current_raw(
          code_seen('P') ? code_value_byte() : -1,
          code_seen('S') ? code_value_ushort() : 0
        );
      #endif
    }
  
    #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  
      inline void gcode_M909() { dac_print_values(); }
  
      inline void gcode_M910() { dac_commit_eeprom(); }
  
    #endif
  
  #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  
  #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++) stepper.microstep_mode(i, code_value_byte());
      LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
      if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
      stepper.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_byte()) {
        case 1:
          LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
          if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
          break;
        case 2:
          LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
          if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
          break;
      }
      stepper.microstep_readings();
    }
  
  #endif // HAS_MICROSTEPS
  
  #if HAS_CASE_LIGHT
  
    uint8_t case_light_brightness = 255;
  
    void update_case_light() {
      digitalWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? HIGH : LOW);
      analogWrite(CASE_LIGHT_PIN, case_light_on != INVERT_CASE_LIGHT ? case_light_brightness : 0);
    }
  
    /**
     * M355: Turn case lights on/off and set brightness
     *
     *   S<bool>  Turn case light on or off
     *   P<byte>  Set case light brightness (PWM pin required)
     */
    inline void gcode_M355() {
      if (code_seen('P')) case_light_brightness = code_value_byte();
      if (code_seen('S')) case_light_on = code_value_bool();
      update_case_light();
      SERIAL_ECHO_START;
      SERIAL_ECHOPGM("Case lights ");
      case_light_on ? SERIAL_ECHOLNPGM("on") : SERIAL_ECHOLNPGM("off");
    }
  
  #endif // HAS_CASE_LIGHT
  
  #if ENABLED(MIXING_EXTRUDER)
  
    /**
     * M163: Set a single mix factor for a mixing extruder
     *       This is called "weight" by some systems.
     *
     *   S[index]   The channel index to set
     *   P[float]   The mix value
     *
     */
    inline void gcode_M163() {
      int mix_index = code_seen('S') ? code_value_int() : 0;
      if (mix_index < MIXING_STEPPERS) {
        float mix_value = code_seen('P') ? code_value_float() : 0.0;
        NOLESS(mix_value, 0.0);
        mixing_factor[mix_index] = RECIPROCAL(mix_value);
      }
    }
  
    #if MIXING_VIRTUAL_TOOLS > 1
  
      /**
       * M164: Store the current mix factors as a virtual tool.
       *
       *   S[index]   The virtual tool to store
       *
       */
      inline void gcode_M164() {
        int tool_index = code_seen('S') ? code_value_int() : 0;
        if (tool_index < MIXING_VIRTUAL_TOOLS) {
          normalize_mix();
          for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
            mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
        }
      }
  
    #endif
  
    #if ENABLED(DIRECT_MIXING_IN_G1)
      /**
       * M165: Set multiple mix factors for a mixing extruder.
       *       Factors that are left out will be set to 0.
       *       All factors together must add up to 1.0.
       *
       *   A[factor] Mix factor for extruder stepper 1
       *   B[factor] Mix factor for extruder stepper 2
       *   C[factor] Mix factor for extruder stepper 3
       *   D[factor] Mix factor for extruder stepper 4
       *   H[factor] Mix factor for extruder stepper 5
       *   I[factor] Mix factor for extruder stepper 6
       *
       */
      inline void gcode_M165() { gcode_get_mix(); }
    #endif
  
  #endif // MIXING_EXTRUDER
  
  /**
   * M999: Restart after being stopped
   *
   * Default behaviour is to flush the serial buffer and request
   * a resend to the host starting on the last N line received.
   *
   * Sending "M999 S1" will resume printing without flushing the
   * existing command buffer.
   *
   */
  inline void gcode_M999() {
    Running = true;
    lcd_reset_alert_level();
  
    if (code_seen('S') && code_value_bool()) return;
  
    // gcode_LastN = Stopped_gcode_LastN;
    FlushSerialRequestResend();
  }
  
  #if ENABLED(SWITCHING_EXTRUDER)
    inline void move_extruder_servo(uint8_t e) {
      const int angles[2] = SWITCHING_EXTRUDER_SERVO_ANGLES;
      MOVE_SERVO(SWITCHING_EXTRUDER_SERVO_NR, angles[e]);
    }
  #endif
  
  inline void invalid_extruder_error(const uint8_t &e) {
    SERIAL_ECHO_START;
    SERIAL_CHAR('T');
    SERIAL_PROTOCOL_F(e, DEC);
    SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  }
  
  /**
   * Perform a tool-change, which may result in moving the
   * previous tool out of the way and the new tool into place.
   */
  void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
    #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
  
      if (tmp_extruder >= MIXING_VIRTUAL_TOOLS)
        return invalid_extruder_error(tmp_extruder);
  
      // T0-Tnnn: Switch virtual tool by changing the mix
      for (uint8_t j = 0; j < MIXING_STEPPERS; j++)
        mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
  
    #else //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  
      #if HOTENDS > 1
  
        if (tmp_extruder >= EXTRUDERS)
          return invalid_extruder_error(tmp_extruder);
  
        float old_feedrate_mm_s = feedrate_mm_s;
  
        feedrate_mm_s = fr_mm_s > 0.0 ? (old_feedrate_mm_s = fr_mm_s) : XY_PROBE_FEEDRATE_MM_S;
  
        if (tmp_extruder != active_extruder) {
          if (!no_move && axis_unhomed_error(true, true, true)) {
            SERIAL_ECHOLNPGM("No move on toolchange");
            no_move = true;
          }
  
          // Save current position to destination, for use later
          set_destination_to_current();
  
          #if ENABLED(DUAL_X_CARRIAGE)
  
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(LEVELING)) {
                SERIAL_ECHOPGM("Dual X Carriage Mode ");
                switch (dual_x_carriage_mode) {
                  case DXC_FULL_CONTROL_MODE: SERIAL_ECHOLNPGM("DXC_FULL_CONTROL_MODE"); break;
                  case DXC_AUTO_PARK_MODE: SERIAL_ECHOLNPGM("DXC_AUTO_PARK_MODE"); break;
                  case DXC_DUPLICATION_MODE: SERIAL_ECHOLNPGM("DXC_DUPLICATION_MODE"); break;
                }
              }
            #endif
  
            const float xhome = x_home_pos(active_extruder);
            if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE
                && IsRunning()
                && (delayed_move_time || current_position[X_AXIS] != xhome)
            ) {
              float raised_z = current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT;
              #if ENABLED(max_software_endstops)
                NOMORE(raised_z, soft_endstop_max[Z_AXIS]);
              #endif
              #if ENABLED(DEBUG_LEVELING_FEATURE)
                if (DEBUGGING(LEVELING)) {
                  SERIAL_ECHOLNPAIR("Raise to ", raised_z);
                  SERIAL_ECHOLNPAIR("MoveX to ", xhome);
                  SERIAL_ECHOLNPAIR("Lower to ", current_position[Z_AXIS]);
                }
              #endif
              // Park old head: 1) raise 2) move to park position 3) lower
              for (uint8_t i = 0; i < 3; i++)
                planner.buffer_line(
                  i == 0 ? current_position[X_AXIS] : xhome,
                  current_position[Y_AXIS],
                  i == 2 ? current_position[Z_AXIS] : raised_z,
                  current_position[E_AXIS],
                  planner.max_feedrate_mm_s[i == 1 ? X_AXIS : Z_AXIS],
                  active_extruder
                );
              stepper.synchronize();
            }
  
            // Apply Y & Z extruder offset (X offset is used as home pos with Dual X)
            current_position[Y_AXIS] -= hotend_offset[Y_AXIS][active_extruder] - hotend_offset[Y_AXIS][tmp_extruder];
            current_position[Z_AXIS] -= hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder];
  
            // Activate the new extruder
            active_extruder = tmp_extruder;
  
            // This function resets the max/min values - the current position may be overwritten below.
            set_axis_is_at_home(X_AXIS);
  
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(LEVELING)) DEBUG_POS("New Extruder", current_position);
            #endif
  
            // Only when auto-parking are carriages safe to move
            if (dual_x_carriage_mode != DXC_AUTO_PARK_MODE) no_move = true;
  
            switch (dual_x_carriage_mode) {
              case DXC_FULL_CONTROL_MODE:
                // New current position is the position of the activated extruder
                current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
                // Save the inactive extruder's position (from the old current_position)
                inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
                break;
              case DXC_AUTO_PARK_MODE:
                // 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;
                #if ENABLED(max_software_endstops)
                  NOMORE(raised_parked_position[Z_AXIS], soft_endstop_max[Z_AXIS]);
                #endif
                active_extruder_parked = true;
                delayed_move_time = 0;
                break;
              case DXC_DUPLICATION_MODE:
                // If the new extruder is the left one, set it "parked"
                // This triggers the second extruder to move into the duplication position
                active_extruder_parked = (active_extruder == 0);
  
                if (active_extruder_parked)
                  current_position[X_AXIS] = LOGICAL_X_POSITION(inactive_extruder_x_pos);
                else
                  current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
                inactive_extruder_x_pos = RAW_X_POSITION(destination[X_AXIS]);
                extruder_duplication_enabled = false;
                break;
            }
  
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(LEVELING)) {
                SERIAL_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no");
                DEBUG_POS("New extruder (parked)", current_position);
              }
            #endif
  
            // No extra case for HAS_ABL in DUAL_X_CARRIAGE. Does that mean they don't work together?
          #else // !DUAL_X_CARRIAGE
  
            #if ENABLED(SWITCHING_EXTRUDER)
              // <0 if the new nozzle is higher, >0 if lower. A bigger raise when lower.
              float z_diff = hotend_offset[Z_AXIS][active_extruder] - hotend_offset[Z_AXIS][tmp_extruder],
                    z_raise = 0.3 + (z_diff > 0.0 ? z_diff : 0.0);
  
              // Always raise by some amount (destination copied from current_position earlier)
              destination[Z_AXIS] += z_raise;
              planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
              stepper.synchronize();
  
              move_extruder_servo(active_extruder);
              delay(500);
  
              // Move back down, if needed
              if (z_raise != z_diff) {
                destination[Z_AXIS] = current_position[Z_AXIS] + z_diff;
                planner.buffer_line_kinematic(destination, planner.max_feedrate_mm_s[Z_AXIS], active_extruder);
                stepper.synchronize();
              }
            #endif
  
            /**
             * Set current_position to the position of the new nozzle.
             * Offsets are based on linear distance, so we need to get
             * the resulting position in coordinate space.
             *
             * - With grid or 3-point leveling, offset XYZ by a tilted vector
             * - With mesh leveling, update Z for the new position
             * - Otherwise, just use the raw linear distance
             *
             * Software endstops are altered here too. Consider a case where:
             *   E0 at X=0 ... E1 at X=10
             * When we switch to E1 now X=10, but E1 can't move left.
             * To express this we apply the change in XY to the software endstops.
             * E1 can move farther right than E0, so the right limit is extended.
             *
             * Note that we don't adjust the Z software endstops. Why not?
             * Consider a case where Z=0 (here) and switching to E1 makes Z=1
             * because the bed is 1mm lower at the new position. As long as
             * the first nozzle is out of the way, the carriage should be
             * allowed to move 1mm lower. This technically "breaks" the
             * Z software endstop. But this is technically correct (and
             * there is no viable alternative).
             */
            #if ABL_PLANAR
              // Offset extruder, make sure to apply the bed level rotation matrix
              vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
                                                 hotend_offset[Y_AXIS][tmp_extruder],
                                                 0),
                       act_offset_vec = vector_3(hotend_offset[X_AXIS][active_extruder],
                                                 hotend_offset[Y_AXIS][active_extruder],
                                                 0),
                       offset_vec = tmp_offset_vec - act_offset_vec;
  
              #if ENABLED(DEBUG_LEVELING_FEATURE)
                if (DEBUGGING(LEVELING)) {
                  tmp_offset_vec.debug("tmp_offset_vec");
                  act_offset_vec.debug("act_offset_vec");
                  offset_vec.debug("offset_vec (BEFORE)");
                }
              #endif
  
              offset_vec.apply_rotation(planner.bed_level_matrix.transpose(planner.bed_level_matrix));
  
              #if ENABLED(DEBUG_LEVELING_FEATURE)
                if (DEBUGGING(LEVELING)) offset_vec.debug("offset_vec (AFTER)");
              #endif
  
              // Adjustments to the current position
              float xydiff[2] = { offset_vec.x, offset_vec.y };
              current_position[Z_AXIS] += offset_vec.z;
  
            #else // !ABL_PLANAR
  
              float xydiff[2] = {
                hotend_offset[X_AXIS][tmp_extruder] - hotend_offset[X_AXIS][active_extruder],
                hotend_offset[Y_AXIS][tmp_extruder] - hotend_offset[Y_AXIS][active_extruder]
              };
  
              #if ENABLED(MESH_BED_LEVELING)
  
                if (mbl.active()) {
                  #if ENABLED(DEBUG_LEVELING_FEATURE)
                    if (DEBUGGING(LEVELING)) SERIAL_ECHOPAIR("Z before MBL: ", current_position[Z_AXIS]);
                  #endif
                  float x2 = current_position[X_AXIS] + xydiff[X_AXIS],
                        y2 = current_position[Y_AXIS] + xydiff[Y_AXIS],
                        z1 = current_position[Z_AXIS], z2 = z1;
                  planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], z1);
                  planner.apply_leveling(x2, y2, z2);
                  current_position[Z_AXIS] += z2 - z1;
                  #if ENABLED(DEBUG_LEVELING_FEATURE)
                    if (DEBUGGING(LEVELING))
                      SERIAL_ECHOLNPAIR(" after: ", current_position[Z_AXIS]);
                  #endif
                }
  
              #endif // MESH_BED_LEVELING
  
            #endif // !HAS_ABL
  
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(LEVELING)) {
                SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]);
                SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]);
                SERIAL_ECHOLNPGM(" }");
              }
            #endif
  
            // The newly-selected extruder XY is actually at...
            current_position[X_AXIS] += xydiff[X_AXIS];
            current_position[Y_AXIS] += xydiff[Y_AXIS];
            for (uint8_t i = X_AXIS; i <= Y_AXIS; i++) {
              position_shift[i] += xydiff[i];
              update_software_endstops((AxisEnum)i);
            }
  
            // Set the new active extruder
            active_extruder = tmp_extruder;
  
          #endif // !DUAL_X_CARRIAGE
  
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (DEBUGGING(LEVELING)) DEBUG_POS("Sync After Toolchange", current_position);
          #endif
  
          // Tell the planner the new "current position"
          SYNC_PLAN_POSITION_KINEMATIC();
  
          // Move to the "old position" (move the extruder into place)
          if (!no_move && IsRunning()) {
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (DEBUGGING(LEVELING)) DEBUG_POS("Move back", destination);
            #endif
            prepare_move_to_destination();
          }
  
        } // (tmp_extruder != active_extruder)
  
        stepper.synchronize();
  
        #if ENABLED(EXT_SOLENOID)
          disable_all_solenoids();
          enable_solenoid_on_active_extruder();
        #endif // EXT_SOLENOID
  
        feedrate_mm_s = old_feedrate_mm_s;
  
      #else // HOTENDS <= 1
  
        // Set the new active extruder
        active_extruder = tmp_extruder;
  
        UNUSED(fr_mm_s);
        UNUSED(no_move);
  
      #endif // HOTENDS <= 1
  
      SERIAL_ECHO_START;
      SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
  
    #endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
  }
  
  /**
   * T0-T3: Switch tool, usually switching extruders
   *
   *   F[units/min] Set the movement feedrate
   *   S1           Don't move the tool in XY after change
   */
  inline void gcode_T(uint8_t tmp_extruder) {
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
        SERIAL_CHAR(')');
        SERIAL_EOL;
        DEBUG_POS("BEFORE", current_position);
      }
    #endif
  
    #if HOTENDS == 1 || (ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1)
  
      tool_change(tmp_extruder);
  
    #elif HOTENDS > 1
  
      tool_change(
        tmp_extruder,
        code_seen('F') ? MMM_TO_MMS(code_value_axis_units(X_AXIS)) : 0.0,
        (tmp_extruder == active_extruder) || (code_seen('S') && code_value_bool())
      );
  
    #endif
  
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (DEBUGGING(LEVELING)) {
        DEBUG_POS("AFTER", current_position);
        SERIAL_ECHOLNPGM("<<< gcode_T");
      }
    #endif
  }
  
  /**
   * 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 (DEBUGGING(ECHO)) {
      SERIAL_ECHO_START;
      SERIAL_ECHOLN(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' && NUMERIC_SIGNED(current_command[1])) {
      current_command += 2; // skip N[-0-9]
      while (NUMERIC(*current_command)) ++current_command; // skip [0-9]*
      while (*current_command == ' ') ++current_command; // skip [ ]*
    }
    char* starpos = strchr(current_command, '*');  // * should always be the last parameter
    if (starpos) while (*starpos == ' ' || *starpos == '*') *starpos-- = '\0'; // nullify '*' and ' '
  
    char *cmd_ptr = current_command;
  
    // Get the command code, which must be G, M, or T
    char command_code = *cmd_ptr++;
  
    // Skip spaces to get the numeric part
    while (*cmd_ptr == ' ') cmd_ptr++;
  
    // Allow for decimal point in command
    #if ENABLED(G38_PROBE_TARGET)
      uint8_t subcode = 0;
    #endif
  
    uint16_t codenum = 0; // define ahead of goto
  
    // Bail early if there's no code
    bool code_is_good = NUMERIC(*cmd_ptr);
    if (!code_is_good) goto ExitUnknownCommand;
  
    // Get and skip the code number
    do {
      codenum = (codenum * 10) + (*cmd_ptr - '0');
      cmd_ptr++;
    } while (NUMERIC(*cmd_ptr));
  
    // Allow for decimal point in command
    #if ENABLED(G38_PROBE_TARGET)
      if (*cmd_ptr == '.') {
        cmd_ptr++;
        while (NUMERIC(*cmd_ptr))
          subcode = (subcode * 10) + (*cmd_ptr++ - '0');
      }
    #endif
  
    // Skip all spaces to get to the first argument, or nul
    while (*cmd_ptr == ' ') cmd_ptr++;
  
    // The command's arguments (if any) start here, for sure!
    current_command_args = cmd_ptr;
  
    KEEPALIVE_STATE(IN_HANDLER);
  
    // Handle a known G, M, or T
    switch (command_code) {
      case 'G': switch (codenum) {
  
        // G0, G1
        case 0:
        case 1:
          #if IS_SCARA
            gcode_G0_G1(codenum == 0);
          #else
            gcode_G0_G1();
          #endif
          break;
  
        // G2, G3
        #if ENABLED(ARC_SUPPORT) && DISABLED(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;
  
        #if ENABLED(BEZIER_CURVE_SUPPORT)
          // G5
          case 5: // G5  - Cubic B_spline
            gcode_G5();
            break;
        #endif // BEZIER_CURVE_SUPPORT
  
        #if ENABLED(FWRETRACT)
          case 10: // G10: retract
          case 11: // G11: retract_recover
            gcode_G10_G11(codenum == 10);
            break;
        #endif // FWRETRACT
  
        #if ENABLED(NOZZLE_CLEAN_FEATURE)
          case 12:
            gcode_G12(); // G12: Nozzle Clean
            break;
        #endif // NOZZLE_CLEAN_FEATURE
  
        #if ENABLED(INCH_MODE_SUPPORT)
          case 20: //G20: Inch Mode
            gcode_G20();
            break;
  
          case 21: //G21: MM Mode
            gcode_G21();
            break;
        #endif // INCH_MODE_SUPPORT
  
        #if ENABLED(NOZZLE_PARK_FEATURE)
          case 27: // G27: Nozzle Park
            gcode_G27();
            break;
        #endif // NOZZLE_PARK_FEATURE
  
        case 28: // G28: Home all axes, one at a time
          gcode_G28();
          break;
  
        #if PLANNER_LEVELING
          case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
            gcode_G29();
            break;
        #endif // PLANNER_LEVELING
  
        #if HAS_BED_PROBE
  
          case 30: // G30 Single Z probe
            gcode_G30();
            break;
  
          #if ENABLED(Z_PROBE_SLED)
  
              case 31: // G31: dock the sled
                gcode_G31();
                break;
  
              case 32: // G32: undock the sled
                gcode_G32();
                break;
  
          #endif // Z_PROBE_SLED
        #endif // HAS_BED_PROBE
  
        #if ENABLED(G38_PROBE_TARGET)
          case 38: // G38.2 & G38.3
            if (subcode == 2 || subcode == 3)
              gcode_G38(subcode == 2);
            break;
        #endif
  
        case 90: // G90
          relative_mode = false;
          break;
        case 91: // G91
          relative_mode = true;
          break;
  
        case 92: // G92
          gcode_G92();
          break;
      }
      break;
  
      case 'M': switch (codenum) {
        #if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
          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
  
        case 17: // M17: Enable 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;
  
          #if ENABLED(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: Report time since the start of SD print or last M109
          gcode_M31(); break;
  
        case 42: // M42: Change pin state
          gcode_M42(); break;
  
        #if ENABLED(PINS_DEBUGGING)
          case 43: // M43: Read pin state
            gcode_M43(); break;
        #endif
  
        #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
          case 48: // M48: Z probe repeatability test
            gcode_M48();
            break;
        #endif // Z_MIN_PROBE_REPEATABILITY_TEST
  
        case 75: // M75: Start print timer
          gcode_M75(); break;
        case 76: // M76: Pause print timer
          gcode_M76(); break;
        case 77: // M77: Stop print timer
          gcode_M77(); break;
  
        #if ENABLED(PRINTCOUNTER)
          case 78: // M78: Show print statistics
            gcode_M78(); break;
        #endif
  
        #if ENABLED(M100_FREE_MEMORY_WATCHER)
          case 100: // M100: Free Memory Report
            gcode_M100();
            break;
        #endif
  
        case 104: // M104: Set hot end temperature
          gcode_M104();
          break;
  
        case 110: // M110: Set Current Line Number
          gcode_M110();
          break;
  
        case 111: // M111: Set debug level
          gcode_M111();
          break;
  
        #if DISABLED(EMERGENCY_PARSER)
  
          case 108: // M108: Cancel Waiting
            gcode_M108();
            break;
  
          case 112: // M112: Emergency Stop
            gcode_M112();
            break;
  
          case 410: // M410 quickstop - Abort all the planned moves.
            gcode_M410();
            break;
  
        #endif
  
        #if ENABLED(HOST_KEEPALIVE_FEATURE)
          case 113: // M113: Set Host Keepalive interval
            gcode_M113();
            break;
        #endif
  
        case 140: // M140: Set bed temperature
          gcode_M140();
          break;
  
        case 105: // M105: Report current temperature
          gcode_M105();
          KEEPALIVE_STATE(NOT_BUSY);
          return; // "ok" already printed
  
        #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
          case 155: // M155: Set temperature auto-report interval
            gcode_M155();
            break;
        #endif
  
        case 109: // M109: Wait for hotend temperature to reach target
          gcode_M109();
          break;
  
        #if HAS_TEMP_BED
          case 190: // M190: Wait for bed temperature to reach target
            gcode_M190();
            break;
        #endif // HAS_TEMP_BED
  
        #if FAN_COUNT > 0
          case 106: // M106: Fan On
            gcode_M106();
            break;
          case 107: // M107: Fan Off
            gcode_M107();
            break;
        #endif // FAN_COUNT > 0
  
        #if ENABLED(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
  
        #if HAS_POWER_SWITCH
  
          case 80: // M80: Turn on Power Supply
            gcode_M80();
            break;
  
        #endif // HAS_POWER_SWITCH
  
        case 81: // M81: Turn off Power, including Power Supply, if possible
          gcode_M81();
          break;
  
        case 82: // M83: Set E axis normal mode (same as other axes)
          gcode_M82();
          break;
        case 83: // M83: Set E axis relative mode
          gcode_M83();
          break;
        case 18: // M18 => M84
        case 84: // M84: Disable all steppers or set timeout
          gcode_M18_M84();
          break;
        case 85: // M85: Set inactivity stepper shutdown timeout
          gcode_M85();
          break;
        case 92: // M92: Set the steps-per-unit for one or more axes
          gcode_M92();
          break;
        case 114: // M114: Report current position
          gcode_M114();
          break;
        case 115: // M115: Report capabilities
          gcode_M115();
          break;
        case 117: // M117: Set LCD message text, if possible
          gcode_M117();
          break;
        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;
  
        #if ENABLED(HAVE_TMC2130DRIVER)
          case 122: // M122: Diagnose, used to debug TMC2130
            gcode_M122();
            break;
        #endif
  
        #if ENABLED(ULTIPANEL)
  
          case 145: // M145: Set material heatup parameters
            gcode_M145();
            break;
  
        #endif
  
        #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
          case 149: // M149: Set temperature units
            gcode_M149();
            break;
        #endif
  
        #if ENABLED(BLINKM) || ENABLED(RGB_LED)
  
          case 150: // M150: Set Status LED Color
            gcode_M150();
            break;
  
        #endif // BLINKM
  
        #if ENABLED(MIXING_EXTRUDER)
          case 163: // M163: Set a component weight for mixing extruder
            gcode_M163();
            break;
          #if MIXING_VIRTUAL_TOOLS > 1
            case 164: // M164: Save current mix as a virtual extruder
              gcode_M164();
              break;
          #endif
          #if ENABLED(DIRECT_MIXING_IN_G1)
            case 165: // M165: Set multiple mix weights
              gcode_M165();
              break;
          #endif
        #endif
  
        case 200: // M200: Set filament diameter, E to cubic units
          gcode_M200();
          break;
        case 201: // M201: Set max acceleration for print moves (units/s^2)
          gcode_M201();
          break;
        #if 0 // Not used for Sprinter/grbl gen6
          case 202: // M202
            gcode_M202();
            break;
        #endif
        case 203: // M203: Set max feedrate (units/sec)
          gcode_M203();
          break;
        case 204: // M204: Set acceleration
          gcode_M204();
          break;
        case 205: //M205: Set advanced settings
          gcode_M205();
          break;
        case 206: // M206: Set home offsets
          gcode_M206();
          break;
  
        #if ENABLED(DELTA)
          case 665: // M665: Set delta configurations
            gcode_M665();
            break;
        #endif
  
        #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
          case 666: // M666: Set delta or dual endstop adjustment
            gcode_M666();
            break;
        #endif
  
        #if ENABLED(FWRETRACT)
          case 207: // M207: Set Retract Length, Feedrate, and Z lift
            gcode_M207();
            break;
          case 208: // M208: Set Recover (unretract) Additional Length and Feedrate
            gcode_M208();
            break;
          case 209: // M209: Turn Automatic Retract Detection on/off
            gcode_M209();
            break;
        #endif // FWRETRACT
  
        case 211: // M211: Enable, Disable, and/or Report software endstops
          gcode_M211();
          break;
  
        #if HOTENDS > 1
          case 218: // M218: Set a tool offset
            gcode_M218();
            break;
        #endif
  
        case 220: // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
          gcode_M220();
          break;
  
        case 221: // M221: Set Flow Percentage
          gcode_M221();
          break;
  
        case 226: // M226: Wait until a pin reaches a state
          gcode_M226();
          break;
  
        #if HAS_SERVOS
          case 280: // M280: Set servo position absolute
            gcode_M280();
            break;
        #endif // HAS_SERVOS
  
        #if HAS_BUZZER
          case 300: // M300: Play beep tone
            gcode_M300();
            break;
        #endif // HAS_BUZZER
  
        #if ENABLED(PIDTEMP)
          case 301: // M301: Set hotend PID parameters
            gcode_M301();
            break;
        #endif // PIDTEMP
  
        #if ENABLED(PIDTEMPBED)
          case 304: // M304: Set bed PID parameters
            gcode_M304();
            break;
        #endif // PIDTEMPBED
  
        #if defined(CHDK) || HAS_PHOTOGRAPH
          case 240: // M240: Trigger 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 HAS_LCD_CONTRAST
          case 250: // M250: Set LCD contrast
            gcode_M250();
            break;
        #endif // HAS_LCD_CONTRAST
  
        #if ENABLED(EXPERIMENTAL_I2CBUS)
  
          case 260: // M260: Send data to an i2c slave
            gcode_M260();
            break;
  
          case 261: // M261: Request data from an i2c slave
            gcode_M261();
            break;
  
        #endif // EXPERIMENTAL_I2CBUS
  
        #if ENABLED(PREVENT_COLD_EXTRUSION)
          case 302: // M302: Allow cold extrudes (set the minimum extrude temperature)
            gcode_M302();
            break;
        #endif // PREVENT_COLD_EXTRUSION
  
        case 303: // M303: PID autotune
          gcode_M303();
          break;
  
        #if ENABLED(MORGAN_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;
        #endif // SCARA
  
        case 400: // M400: Finish all moves
          gcode_M400();
          break;
  
        #if HAS_BED_PROBE
          case 401: // M401: Deploy probe
            gcode_M401();
            break;
          case 402: // M402: Stow probe
            gcode_M402();
            break;
        #endif // HAS_BED_PROBE
  
        #if ENABLED(FILAMENT_WIDTH_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 // ENABLED(FILAMENT_WIDTH_SENSOR)
  
        #if PLANNER_LEVELING
          case 420: // M420: Enable/Disable Bed Leveling
            gcode_M420();
            break;
        #endif
  
        #if ENABLED(MESH_BED_LEVELING)
          case 421: // M421: Set a Mesh Bed Leveling Z coordinate
            gcode_M421();
            break;
        #endif
  
        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;
  
        #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
          case 540: // M540: Set abort on endstop hit for SD printing
            gcode_M540();
            break;
        #endif
  
        #if HAS_BED_PROBE
          case 851: // M851: Set Z Probe Z Offset
            gcode_M851();
            break;
        #endif // HAS_BED_PROBE
  
        #if ENABLED(FILAMENT_CHANGE_FEATURE)
          case 600: // M600: Pause for filament change
            gcode_M600();
            break;
        #endif // FILAMENT_CHANGE_FEATURE
  
        #if ENABLED(DUAL_X_CARRIAGE)
          case 605: // M605: Set Dual X Carriage movement mode
            gcode_M605();
            break;
        #endif // DUAL_X_CARRIAGE
  
        #if ENABLED(LIN_ADVANCE)
          case 905: // M905: Set advance K factor.
            gcode_M905();
            break;
        #endif
  
        case 907: // M907: Set digital trimpot motor current using axis codes.
          gcode_M907();
          break;
  
        #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
  
          case 908: // M908: Control digital trimpot directly.
            gcode_M908();
            break;
  
          #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
  
            case 909: // M909: Print digipot/DAC current value
              gcode_M909();
              break;
  
            case 910: // M910: Commit digipot/DAC value to external EEPROM
              gcode_M910();
              break;
  
          #endif
  
        #endif // HAS_DIGIPOTSS || DAC_STEPPER_CURRENT
  
        #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
  
        #if HAS_CASE_LIGHT
  
          case 355: // M355 Turn case lights on/off
            gcode_M355();
            break;
  
        #endif // HAS_CASE_LIGHT
  
        case 999: // M999: Restart after being Stopped
          gcode_M999();
          break;
      }
      break;
  
      case 'T':
        gcode_T(codenum);
        break;
  
      default: code_is_good = false;
    }
  
    KEEPALIVE_STATE(NOT_BUSY);
  
  ExitUnknownCommand:
  
    // Still unknown command? Throw an error
    if (!code_is_good) unknown_command_error();
  
    ok_to_send();
  }
  
  /**
   * Send a "Resend: nnn" message to the host to
   * indicate that a command needs to be re-sent.
   */
  void FlushSerialRequestResend() {
    //char command_queue[cmd_queue_index_r][100]="Resend:";
    MYSERIAL.flush();
    SERIAL_PROTOCOLPGM(MSG_RESEND);
    SERIAL_PROTOCOLLN(gcode_LastN + 1);
    ok_to_send();
  }
  
  /**
   * Send an "ok" message to the host, indicating
   * that a command was successfully processed.
   *
   * If ADVANCED_OK is enabled also include:
   *   N<int>  Line number of the command, if any
   *   P<int>  Planner space remaining
   *   B<int>  Block queue space remaining
   */
  void ok_to_send() {
    refresh_cmd_timeout();
    if (!send_ok[cmd_queue_index_r]) return;
    SERIAL_PROTOCOLPGM(MSG_OK);
    #if ENABLED(ADVANCED_OK)
      char* p = command_queue[cmd_queue_index_r];
      if (*p == 'N') {
        SERIAL_PROTOCOL(' ');
        SERIAL_ECHO(*p++);
        while (NUMERIC_SIGNED(*p))
          SERIAL_ECHO(*p++);
      }
      SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1));
      SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
    #endif
    SERIAL_EOL;
  }
  
  #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
  
    /**
     * Constrain the given coordinates to the software endstops.
     */
    void clamp_to_software_endstops(float target[XYZ]) {
      #if ENABLED(min_software_endstops)
        NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
        NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
        NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
      #endif
      #if ENABLED(max_software_endstops)
        NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
        NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
        NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
      #endif
    }
  
  #endif
  
  #if ENABLED(AUTO_BED_LEVELING_BILINEAR)
  
    #if ENABLED(ABL_BILINEAR_SUBDIVISION)
      #define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
      #define ABL_BG_POINTS_X   ABL_GRID_POINTS_VIRT_X
      #define ABL_BG_POINTS_Y   ABL_GRID_POINTS_VIRT_Y
      #define ABL_BG_GRID(X,Y)  bed_level_grid_virt[X][Y]
    #else
      #define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
      #define ABL_BG_POINTS_X   ABL_GRID_POINTS_X
      #define ABL_BG_POINTS_Y   ABL_GRID_POINTS_Y
      #define ABL_BG_GRID(X,Y)  bed_level_grid[X][Y]
    #endif
  
    // Get the Z adjustment for non-linear bed leveling
    float bilinear_z_offset(float cartesian[XYZ]) {
  
      // XY relative to the probed area
      const float x = RAW_X_POSITION(cartesian[X_AXIS]) - bilinear_start[X_AXIS],
                  y = RAW_Y_POSITION(cartesian[Y_AXIS]) - bilinear_start[Y_AXIS];
  
      // Convert to grid box units
      float ratio_x = x / ABL_BG_SPACING(X_AXIS),
            ratio_y = y / ABL_BG_SPACING(Y_AXIS);
  
      // Whole units for the grid line indices. Constrained within bounds.
      const int gridx = constrain(floor(ratio_x), 0, ABL_BG_POINTS_X - 1),
                gridy = constrain(floor(ratio_y), 0, ABL_BG_POINTS_Y - 1),
                nextx = min(gridx + 1, ABL_BG_POINTS_X - 1),
                nexty = min(gridy + 1, ABL_BG_POINTS_Y - 1);
  
      // Subtract whole to get the ratio within the grid box
      ratio_x -= gridx; ratio_y -= gridy;
  
      // Never less than 0.0. (Over 1.0 is fine due to previous contraints.)
      NOLESS(ratio_x, 0); NOLESS(ratio_y, 0);
  
      // Z at the box corners
      const float z1 = ABL_BG_GRID(gridx, gridy),  // left-front
                  z2 = ABL_BG_GRID(gridx, nexty),  // left-back
                  z3 = ABL_BG_GRID(nextx, gridy),  // right-front
                  z4 = ABL_BG_GRID(nextx, nexty),  // right-back
  
                  // Bilinear interpolate
                  L = z1 + (z2 - z1) * ratio_y,   // Linear interp. LF -> LB
                  R = z3 + (z4 - z3) * ratio_y,   // Linear interp. RF -> RB
                  offset = L + ratio_x * (R - L);
  
      /*
      static float last_offset = 0;
      if (fabs(last_offset - offset) > 0.2) {
        SERIAL_ECHOPGM("Sudden Shift at ");
        SERIAL_ECHOPAIR("x=", x);
        SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[X_AXIS]);
        SERIAL_ECHOLNPAIR(" -> gridx=", gridx);
        SERIAL_ECHOPAIR(" y=", y);
        SERIAL_ECHOPAIR(" / ", bilinear_grid_spacing[Y_AXIS]);
        SERIAL_ECHOLNPAIR(" -> gridy=", gridy);
        SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
        SERIAL_ECHOLNPAIR(" ratio_y=", ratio_y);
        SERIAL_ECHOPAIR(" z1=", z1);
        SERIAL_ECHOPAIR(" z2=", z2);
        SERIAL_ECHOPAIR(" z3=", z3);
        SERIAL_ECHOLNPAIR(" z4=", z4);
        SERIAL_ECHOPAIR(" L=", L);
        SERIAL_ECHOPAIR(" R=", R);
        SERIAL_ECHOLNPAIR(" offset=", offset);
      }
      last_offset = offset;
      //*/
  
      return offset;
    }
  
  #endif // AUTO_BED_LEVELING_BILINEAR
  
  #if ENABLED(DELTA)
  
    /**
     * Recalculate factors used for delta kinematics whenever
     * settings have been changed (e.g., by M665).
     */
    void recalc_delta_settings(float radius, float diagonal_rod) {
      delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);  // front left tower
      delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
      delta_tower2_x =  SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);  // front right tower
      delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2);
      delta_tower3_x = 0.0;                                             // back middle tower
      delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3);
      delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
      delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
      delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
    }
  
    #if ENABLED(DELTA_FAST_SQRT)
      /**
       * Fast inverse sqrt from Quake III Arena
       * See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
       */
      float Q_rsqrt(float number) {
        long i;
        float x2, y;
        const float threehalfs = 1.5f;
        x2 = number * 0.5f;
        y  = number;
        i  = * ( long * ) &y;                       // evil floating point bit level hacking
        i  = 0x5f3759df - ( i >> 1 );               // what the f***?
        y  = * ( float * ) &i;
        y  = y * ( threehalfs - ( x2 * y * y ) );   // 1st iteration
        // y  = y * ( threehalfs - ( x2 * y * y ) );   // 2nd iteration, this can be removed
        return y;
      }
  
      #define _SQRT(n) (1.0f / Q_rsqrt(n))
  
    #else
  
      #define _SQRT(n) sqrt(n)
  
    #endif
  
    /**
     * Delta Inverse Kinematics
     *
     * Calculate the tower positions for a given logical
     * position, storing the result in the delta[] array.
     *
     * This is an expensive calculation, requiring 3 square
     * roots per segmented linear move, and strains the limits
     * of a Mega2560 with a Graphical Display.
     *
     * Suggested optimizations include:
     *
     * - Disable the home_offset (M206) and/or position_shift (G92)
     *   features to remove up to 12 float additions.
     *
     * - Use a fast-inverse-sqrt function and add the reciprocal.
     *   (see above)
     */
  
    // Macro to obtain the Z position of an individual tower
    #define DELTA_Z(T) raw[Z_AXIS] + _SQRT(    \
      delta_diagonal_rod_2_tower_##T - HYPOT2( \
          delta_tower##T##_x - raw[X_AXIS],    \
          delta_tower##T##_y - raw[Y_AXIS]     \
        )                                      \
      )
  
    #define DELTA_RAW_IK() do {   \
      delta[A_AXIS] = DELTA_Z(1); \
      delta[B_AXIS] = DELTA_Z(2); \
      delta[C_AXIS] = DELTA_Z(3); \
    } while(0)
  
    #define DELTA_LOGICAL_IK() do {      \
      const float raw[XYZ] = {           \
        RAW_X_POSITION(logical[X_AXIS]), \
        RAW_Y_POSITION(logical[Y_AXIS]), \
        RAW_Z_POSITION(logical[Z_AXIS])  \
      };                                 \
      DELTA_RAW_IK();                    \
    } while(0)
  
    #define DELTA_DEBUG() do { \
        SERIAL_ECHOPAIR("cartesian X:", raw[X_AXIS]); \
        SERIAL_ECHOPAIR(" Y:", raw[Y_AXIS]);          \
        SERIAL_ECHOLNPAIR(" Z:", raw[Z_AXIS]);        \
        SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]);   \
        SERIAL_ECHOPAIR(" B:", delta[B_AXIS]);        \
        SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]);      \
      } while(0)
  
    void inverse_kinematics(const float logical[XYZ]) {
      DELTA_LOGICAL_IK();
      // DELTA_DEBUG();
    }
  
    /**
     * Calculate the highest Z position where the
     * effector has the full range of XY motion.
     */
    float delta_safe_distance_from_top() {
      float cartesian[XYZ] = {
        LOGICAL_X_POSITION(0),
        LOGICAL_Y_POSITION(0),
        LOGICAL_Z_POSITION(0)
      };
      inverse_kinematics(cartesian);
      float distance = delta[A_AXIS];
      cartesian[Y_AXIS] = LOGICAL_Y_POSITION(DELTA_PRINTABLE_RADIUS);
      inverse_kinematics(cartesian);
      return abs(distance - delta[A_AXIS]);
    }
  
    /**
     * Delta Forward Kinematics
     *
     * See the Wikipedia article "Trilateration"
     * https://en.wikipedia.org/wiki/Trilateration
     *
     * Establish a new coordinate system in the plane of the
     * three carriage points. This system has its origin at
     * tower1, with tower2 on the X axis. Tower3 is in the X-Y
     * plane with a Z component of zero.
     * We will define unit vectors in this coordinate system
     * in our original coordinate system. Then when we calculate
     * the Xnew, Ynew and Znew values, we can translate back into
     * the original system by moving along those unit vectors
     * by the corresponding values.
     *
     * Variable names matched to Marlin, c-version, and avoid the
     * use of any vector library.
     *
     * by Andreas Hardtung 2016-06-07
     * based on a Java function from "Delta Robot Kinematics V3"
     * by Steve Graves
     *
     * The result is stored in the cartes[] array.
     */
    void forward_kinematics_DELTA(float z1, float z2, float z3) {
      // Create a vector in old coordinates along x axis of new coordinate
      float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
  
      // Get the Magnitude of vector.
      float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
  
      // Create unit vector by dividing by magnitude.
      float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
  
      // Get the vector from the origin of the new system to the third point.
      float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
  
      // Use the dot product to find the component of this vector on the X axis.
      float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
  
      // Create a vector along the x axis that represents the x component of p13.
      float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
  
      // Subtract the X component from the original vector leaving only Y. We use the
      // variable that will be the unit vector after we scale it.
      float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
  
      // The magnitude of Y component
      float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
  
      // Convert to a unit vector
      ey[0] /= j; ey[1] /= j;  ey[2] /= j;
  
      // The cross product of the unit x and y is the unit z
      // float[] ez = vectorCrossProd(ex, ey);
      float ez[3] = {
        ex[1] * ey[2] - ex[2] * ey[1],
        ex[2] * ey[0] - ex[0] * ey[2],
        ex[0] * ey[1] - ex[1] * ey[0]
      };
  
      // We now have the d, i and j values defined in Wikipedia.
      // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
      float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + sq(d)) / (d * 2),
            Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + HYPOT2(i, j)) / 2 - i * Xnew) / j,
            Znew = sqrt(delta_diagonal_rod_2_tower_1 - HYPOT2(Xnew, Ynew));
  
      // Start from the origin of the old coordinates and add vectors in the
      // old coords that represent the Xnew, Ynew and Znew to find the point
      // in the old system.
      cartes[X_AXIS] = delta_tower1_x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
      cartes[Y_AXIS] = delta_tower1_y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
      cartes[Z_AXIS] =             z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
    }
  
    void forward_kinematics_DELTA(float point[ABC]) {
      forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
    }
  
  #endif // DELTA
  
  /**
   * Get the stepper positions in the cartes[] array.
   * Forward kinematics are applied for DELTA and SCARA.
   *
   * The result is in the current coordinate space with
   * leveling applied. The coordinates need to be run through
   * unapply_leveling to obtain the "ideal" coordinates
   * suitable for current_position, etc.
   */
  void get_cartesian_from_steppers() {
    #if ENABLED(DELTA)
      forward_kinematics_DELTA(
        stepper.get_axis_position_mm(A_AXIS),
        stepper.get_axis_position_mm(B_AXIS),
        stepper.get_axis_position_mm(C_AXIS)
      );
      cartes[X_AXIS] += LOGICAL_X_POSITION(0);
      cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
      cartes[Z_AXIS] += LOGICAL_Z_POSITION(0);
    #elif IS_SCARA
      forward_kinematics_SCARA(
        stepper.get_axis_position_degrees(A_AXIS),
        stepper.get_axis_position_degrees(B_AXIS)
      );
      cartes[X_AXIS] += LOGICAL_X_POSITION(0);
      cartes[Y_AXIS] += LOGICAL_Y_POSITION(0);
      cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
    #else
      cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
      cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
      cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
    #endif
  }
  
  /**
   * Set the current_position for an axis based on
   * the stepper positions, removing any leveling that
   * may have been applied.
   */
  void set_current_from_steppers_for_axis(const AxisEnum axis) {
    get_cartesian_from_steppers();
    #if PLANNER_LEVELING
      planner.unapply_leveling(cartes);
    #endif
    if (axis == ALL_AXES)
      memcpy(current_position, cartes, sizeof(cartes));
    else
      current_position[axis] = cartes[axis];
  }
  
  #if ENABLED(MESH_BED_LEVELING)
  
    /**
     * Prepare a mesh-leveled linear move in a Cartesian setup,
     * splitting the move where it crosses mesh borders.
     */
    void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
      int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
          cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
          cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])),
          cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS]));
      NOMORE(cx1, MESH_NUM_X_POINTS - 2);
      NOMORE(cy1, MESH_NUM_Y_POINTS - 2);
      NOMORE(cx2, MESH_NUM_X_POINTS - 2);
      NOMORE(cy2, MESH_NUM_Y_POINTS - 2);
  
      if (cx1 == cx2 && cy1 == cy2) {
        // Start and end on same mesh square
        line_to_destination(fr_mm_s);
        set_current_to_destination();
        return;
      }
  
      #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  
      float normalized_dist, end[XYZE];
  
      // Split at the left/front border of the right/top square
      int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
      if (cx2 != cx1 && TEST(x_splits, gcx)) {
        memcpy(end, destination, sizeof(end));
        destination[X_AXIS] = LOGICAL_X_POSITION(mbl.get_probe_x(gcx));
        normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
        destination[Y_AXIS] = MBL_SEGMENT_END(Y);
        CBI(x_splits, gcx);
      }
      else if (cy2 != cy1 && TEST(y_splits, gcy)) {
        memcpy(end, destination, sizeof(end));
        destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.get_probe_y(gcy));
        normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
        destination[X_AXIS] = MBL_SEGMENT_END(X);
        CBI(y_splits, gcy);
      }
      else {
        // Already split on a border
        line_to_destination(fr_mm_s);
        set_current_to_destination();
        return;
      }
  
      destination[Z_AXIS] = MBL_SEGMENT_END(Z);
      destination[E_AXIS] = MBL_SEGMENT_END(E);
  
      // Do the split and look for more borders
      mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
  
      // Restore destination from stack
      memcpy(destination, end, sizeof(end));
      mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
    }
  
  #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC
  
    #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) / ABL_BG_SPACING(A##_AXIS))
  
    /**
     * Prepare a bilinear-leveled linear move on Cartesian,
     * splitting the move where it crosses grid borders.
     */
    void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) {
      int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
          cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
          cx2 = CELL_INDEX(X, destination[X_AXIS]),
          cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
      cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2);
      cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2);
      cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2);
      cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2);
  
      if (cx1 == cx2 && cy1 == cy2) {
        // Start and end on same mesh square
        line_to_destination(fr_mm_s);
        set_current_to_destination();
        return;
      }
  
      #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist)
  
      float normalized_dist, end[XYZE];
  
      // Split at the left/front border of the right/top square
      int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2);
      if (cx2 != cx1 && TEST(x_splits, gcx)) {
        memcpy(end, destination, sizeof(end));
        destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx);
        normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
        destination[Y_AXIS] = LINE_SEGMENT_END(Y);
        CBI(x_splits, gcx);
      }
      else if (cy2 != cy1 && TEST(y_splits, gcy)) {
        memcpy(end, destination, sizeof(end));
        destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy);
        normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
        destination[X_AXIS] = LINE_SEGMENT_END(X);
        CBI(y_splits, gcy);
      }
      else {
        // Already split on a border
        line_to_destination(fr_mm_s);
        set_current_to_destination();
        return;
      }
  
      destination[Z_AXIS] = LINE_SEGMENT_END(Z);
      destination[E_AXIS] = LINE_SEGMENT_END(E);
  
      // Do the split and look for more borders
      bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
  
      // Restore destination from stack
      memcpy(destination, end, sizeof(end));
      bilinear_line_to_destination(fr_mm_s, x_splits, y_splits);
    }
  
  #endif // AUTO_BED_LEVELING_BILINEAR
  
  #if IS_KINEMATIC
  
    /**
     * Prepare a linear move in a DELTA or SCARA setup.
     *
     * This calls planner.buffer_line several times, adding
     * small incremental moves for DELTA or SCARA.
     */
    inline bool prepare_kinematic_move_to(float ltarget[NUM_AXIS]) {
  
      // Get the top feedrate of the move in the XY plane
      float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
  
      // If the move is only in Z/E don't split up the move
      if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
        planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
        return true;
      }
  
      // Get the cartesian distances moved in XYZE
      float difference[NUM_AXIS];
      LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
  
      // Get the linear distance in XYZ
      float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
  
      // If the move is very short, check the E move distance
      if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
  
      // No E move either? Game over.
      if (UNEAR_ZERO(cartesian_mm)) return false;
  
      // Minimum number of seconds to move the given distance
      float seconds = cartesian_mm / _feedrate_mm_s;
  
      // The number of segments-per-second times the duration
      // gives the number of segments
      uint16_t segments = delta_segments_per_second * seconds;
  
      // For SCARA minimum segment size is 0.5mm
      #if IS_SCARA
        NOMORE(segments, cartesian_mm * 2);
      #endif
  
      // At least one segment is required
      NOLESS(segments, 1);
  
      // The approximate length of each segment
      float segment_distance[XYZE] = {
              difference[X_AXIS] / segments,
              difference[Y_AXIS] / segments,
              difference[Z_AXIS] / segments,
              difference[E_AXIS] / segments
            };
  
      // SERIAL_ECHOPAIR("mm=", cartesian_mm);
      // SERIAL_ECHOPAIR(" seconds=", seconds);
      // SERIAL_ECHOLNPAIR(" segments=", segments);
  
      // Drop one segment so the last move is to the exact target.
      // If there's only 1 segment, loops will be skipped entirely.
      --segments;
  
      // Using "raw" coordinates saves 6 float subtractions
      // per segment, saving valuable CPU cycles
  
      #if ENABLED(USE_RAW_KINEMATICS)
  
        // Get the raw current position as starting point
        float raw[XYZE] = {
          RAW_CURRENT_POSITION(X_AXIS),
          RAW_CURRENT_POSITION(Y_AXIS),
          RAW_CURRENT_POSITION(Z_AXIS),
          current_position[E_AXIS]
        };
  
        #define DELTA_VAR raw
  
        // Delta can inline its kinematics
        #if ENABLED(DELTA)
          #define DELTA_IK() DELTA_RAW_IK()
        #else
          #define DELTA_IK() inverse_kinematics(raw)
        #endif
  
      #else
  
        // Get the logical current position as starting point
        float logical[XYZE];
        memcpy(logical, current_position, sizeof(logical));
  
        #define DELTA_VAR logical
  
        // Delta can inline its kinematics
        #if ENABLED(DELTA)
          #define DELTA_IK() DELTA_LOGICAL_IK()
        #else
          #define DELTA_IK() inverse_kinematics(logical)
        #endif
  
      #endif
  
      #if ENABLED(USE_DELTA_IK_INTERPOLATION)
  
        // Only interpolate XYZ. Advance E normally.
        #define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
  
        // Get the starting delta if interpolation is possible
        if (segments >= 2) {
          DELTA_IK();
          ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
        }
  
        // Loop using decrement
        for (uint16_t s = segments + 1; --s;) {
          // Are there at least 2 moves left?
          if (s >= 2) {
            // Save the previous delta for interpolation
            float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
  
            // Get the delta 2 segments ahead (rather than the next)
            DELTA_NEXT(segment_distance[i] + segment_distance[i]);
  
            // Advance E normally
            DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
  
            // Get the exact delta for the move after this
            DELTA_IK();
            ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
  
            // Move to the interpolated delta position first
            planner.buffer_line(
              (prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
              (prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
              (prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
              DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder
            );
  
            // Advance E once more for the next move
            DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
  
            // Do an extra decrement of the loop
            --s;
          }
          else {
            // Get the last segment delta. (Used when segments is odd)
            DELTA_NEXT(segment_distance[i]);
            DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
            DELTA_IK();
            ADJUST_DELTA(DELTA_VAR); // Adjust Z if bed leveling is enabled
          }
  
          // Move to the non-interpolated position
          planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
        }
  
      #else
  
        #define DELTA_NEXT(ADDEND) LOOP_XYZE(i) DELTA_VAR[i] += ADDEND;
  
        // For non-interpolated delta calculate every segment
        for (uint16_t s = segments + 1; --s;) {
          DELTA_NEXT(segment_distance[i]);
          planner.buffer_line_kinematic(DELTA_VAR, _feedrate_mm_s, active_extruder);
        }
  
      #endif
  
      // Since segment_distance is only approximate,
      // the final move must be to the exact destination.
      planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder);
      return true;
    }
  
  #else // !IS_KINEMATIC
  
    /**
     * Prepare a linear move in a Cartesian setup.
     * If Mesh Bed Leveling is enabled, perform a mesh move.
     */
    inline bool prepare_move_to_destination_cartesian() {
      // Do not use feedrate_percentage 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 {
        #if ENABLED(MESH_BED_LEVELING)
          if (mbl.active()) {
            mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
            return false;
          }
          else
        #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
          if (planner.abl_enabled) {
            bilinear_line_to_destination(MMS_SCALED(feedrate_mm_s));
            return false;
          }
          else
        #endif
            line_to_destination(MMS_SCALED(feedrate_mm_s));
      }
      return true;
    }
  
  #endif // !IS_KINEMATIC
  
  #if ENABLED(DUAL_X_CARRIAGE)
  
    /**
     * Prepare a linear move in a dual X axis setup
     */
    inline bool prepare_move_to_destination_dualx() {
      if (active_extruder_parked) {
        switch (dual_x_carriage_mode) {
          case DXC_FULL_CONTROL_MODE:
            break;
          case DXC_AUTO_PARK_MODE:
            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;
              }
            }
            // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
            for (uint8_t i = 0; i < 3; i++)
              planner.buffer_line(
                i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
                i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
                i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
                current_position[E_AXIS],
                i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
                active_extruder
              );
            delayed_move_time = 0;
            active_extruder_parked = false;
            break;
          case DXC_DUPLICATION_MODE:
            if (active_extruder == 0) {
              // move duplicate extruder into correct duplication position.
              planner.set_position_mm(
                LOGICAL_X_POSITION(inactive_extruder_x_pos),
                current_position[Y_AXIS],
                current_position[Z_AXIS],
                current_position[E_AXIS]
              );
              planner.buffer_line(
                current_position[X_AXIS] + duplicate_extruder_x_offset,
                current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
                planner.max_feedrate_mm_s[X_AXIS], 1
              );
              SYNC_PLAN_POSITION_KINEMATIC();
              stepper.synchronize();
              extruder_duplication_enabled = true;
              active_extruder_parked = false;
            }
            break;
        }
      }
      return true;
    }
  
  #endif // DUAL_X_CARRIAGE
  
  /**
   * Prepare a single move and get ready for the next one
   *
   * This may result in several calls to planner.buffer_line to
   * do smaller moves for DELTA, SCARA, mesh moves, etc.
   */
  void prepare_move_to_destination() {
    clamp_to_software_endstops(destination);
    refresh_cmd_timeout();
  
    #if ENABLED(PREVENT_COLD_EXTRUSION)
  
      if (!DEBUGGING(DRYRUN)) {
        if (destination[E_AXIS] != current_position[E_AXIS]) {
          if (thermalManager.tooColdToExtrude(active_extruder)) {
            current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
            SERIAL_ECHO_START;
            SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
          }
          #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
            if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
              current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
              SERIAL_ECHO_START;
              SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
            }
          #endif
        }
      }
  
    #endif
  
    #if IS_KINEMATIC
      if (!prepare_kinematic_move_to(destination)) return;
    #else
      #if ENABLED(DUAL_X_CARRIAGE)
        if (!prepare_move_to_destination_dualx()) return;
      #endif
      if (!prepare_move_to_destination_cartesian()) return;
    #endif
  
    set_current_to_destination();
  }
  
  #if ENABLED(ARC_SUPPORT)
    /**
     * 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 logical[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_X = current_position[X_AXIS] + offset[X_AXIS],
            center_Y = current_position[Y_AXIS] + offset[Y_AXIS],
            linear_travel = logical[Z_AXIS] - current_position[Z_AXIS],
            extruder_travel = logical[E_AXIS] - current_position[E_AXIS],
            r_X = -offset[X_AXIS],  // Radius vector from center to current location
            r_Y = -offset[Y_AXIS],
            rt_X = logical[X_AXIS] - center_X,
            rt_Y = logical[Y_AXIS] - center_Y;
  
      // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
      float angular_travel = atan2(r_X * rt_Y - r_Y * rt_X, r_X * rt_X + r_Y * rt_Y);
      if (angular_travel < 0) angular_travel += RADIANS(360);
      if (clockwise) angular_travel -= RADIANS(360);
  
      // Make a circle if the angular rotation is 0
      if (angular_travel == 0 && current_position[X_AXIS] == logical[X_AXIS] && current_position[Y_AXIS] == logical[Y_AXIS])
        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;
  
      /**
       * 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 arc_target[XYZE],
            theta_per_segment = angular_travel / segments,
            linear_per_segment = linear_travel / segments,
            extruder_per_segment = extruder_travel / segments,
            sin_T = theta_per_segment,
            cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
  
      // 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 fr_mm_s = MMS_SCALED(feedrate_mm_s);
  
      millis_t next_idle_ms = millis() + 200UL;
  
      int8_t count = 0;
      for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
  
        thermalManager.manage_heater();
        if (ELAPSED(millis(), next_idle_ms)) {
          next_idle_ms = millis() + 200UL;
          idle();
        }
  
        if (++count < N_ARC_CORRECTION) {
          // Apply vector rotation matrix to previous r_X / 1
          float r_new_Y = r_X * sin_T + r_Y * cos_T;
          r_X = r_X * cos_T - r_Y * sin_T;
          r_Y = r_new_Y;
        }
        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).
          // To reduce stuttering, the sin and cos could be computed at different times.
          // For now, compute both at the same time.
          float cos_Ti = cos(i * theta_per_segment),
                sin_Ti = sin(i * theta_per_segment);
          r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
          r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
          count = 0;
        }
  
        // Update arc_target location
        arc_target[X_AXIS] = center_X + r_X;
        arc_target[Y_AXIS] = center_Y + r_Y;
        arc_target[Z_AXIS] += linear_per_segment;
        arc_target[E_AXIS] += extruder_per_segment;
  
        clamp_to_software_endstops(arc_target);
  
        planner.buffer_line_kinematic(arc_target, fr_mm_s, active_extruder);
      }
  
      // Ensure last segment arrives at target location.
      planner.buffer_line_kinematic(logical, fr_mm_s, active_extruder);
  
      // 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();
    }
  #endif
  
  #if ENABLED(BEZIER_CURVE_SUPPORT)
  
    void plan_cubic_move(const float offset[4]) {
      cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder);
  
      // As far as the parser is concerned, the position is now == destination. 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();
    }
  
  #endif // BEZIER_CURVE_SUPPORT
  
  #if HAS_CONTROLLERFAN
  
    void controllerFan() {
      static millis_t lastMotorOn = 0; // Last time a motor was turned on
      static millis_t nextMotorCheck = 0; // Last time the state was checked
      millis_t ms = millis();
      if (ELAPSED(ms, nextMotorCheck)) {
        nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
        if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || thermalManager.soft_pwm_bed > 0
            || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
            #if E_STEPPERS > 1
              || E1_ENABLE_READ == E_ENABLE_ON
              #if HAS_X2_ENABLE
                || X2_ENABLE_READ == X_ENABLE_ON
              #endif
              #if E_STEPPERS > 2
                || E2_ENABLE_READ == E_ENABLE_ON
                #if E_STEPPERS > 3
                  || E3_ENABLE_READ == E_ENABLE_ON
                #endif
              #endif
            #endif
        ) {
          lastMotorOn = ms; //... set time to NOW so the fan will turn on
        }
  
        // Fan off if no steppers have been enabled for CONTROLLERFAN_SECS seconds
        uint8_t speed = (!lastMotorOn || ELAPSED(ms, lastMotorOn + (CONTROLLERFAN_SECS) * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
  
        // allows digital or PWM fan output to be used (see M42 handling)
        digitalWrite(CONTROLLERFAN_PIN, speed);
        analogWrite(CONTROLLERFAN_PIN, speed);
      }
    }
  
  #endif // HAS_CONTROLLERFAN
  
  #if ENABLED(MORGAN_SCARA)
  
    /**
     * Morgan SCARA Forward Kinematics. Results in cartes[].
     * Maths and first version by QHARLEY.
     * Integrated into Marlin and slightly restructured by Joachim Cerny.
     */
    void forward_kinematics_SCARA(const float &a, const float &b) {
  
      float a_sin = sin(RADIANS(a)) * L1,
            a_cos = cos(RADIANS(a)) * L1,
            b_sin = sin(RADIANS(b)) * L2,
            b_cos = cos(RADIANS(b)) * L2;
  
      cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X;  //theta
      cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y;  //theta+phi
  
      /*
        SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
        SERIAL_ECHOPAIR(" b=", b);
        SERIAL_ECHOPAIR(" a_sin=", a_sin);
        SERIAL_ECHOPAIR(" a_cos=", a_cos);
        SERIAL_ECHOPAIR(" b_sin=", b_sin);
        SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
        SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
        SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
      //*/
    }
  
    /**
     * Morgan SCARA Inverse Kinematics. Results in delta[].
     *
     * See http://forums.reprap.org/read.php?185,283327
     *
     * Maths and first version by QHARLEY.
     * Integrated into Marlin and slightly restructured by Joachim Cerny.
     */
    void inverse_kinematics(const float logical[XYZ]) {
  
      static float C2, S2, SK1, SK2, THETA, PSI;
  
      float sx = RAW_X_POSITION(logical[X_AXIS]) - SCARA_OFFSET_X,  // Translate SCARA to standard X Y
            sy = RAW_Y_POSITION(logical[Y_AXIS]) - SCARA_OFFSET_Y;  // With scaling factor.
  
      if (L1 == L2)
        C2 = HYPOT2(sx, sy) / L1_2_2 - 1;
      else
        C2 = (HYPOT2(sx, sy) - (L1_2 + L2_2)) / (2.0 * L1 * L2);
  
      S2 = sqrt(sq(C2) - 1);
  
      // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End
      SK1 = L1 + L2 * C2;
  
      // Rotated Arm2 gives the distance from Arm1 to Arm2
      SK2 = L2 * S2;
  
      // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow
      THETA = atan2(SK1, SK2) - atan2(sx, sy);
  
      // Angle of Arm2
      PSI = atan2(S2, C2);
  
      delta[A_AXIS] = DEGREES(THETA);        // theta is support arm angle
      delta[B_AXIS] = DEGREES(THETA + PSI);  // equal to sub arm angle (inverted motor)
      delta[C_AXIS] = logical[Z_AXIS];
  
      /*
        DEBUG_POS("SCARA IK", logical);
        DEBUG_POS("SCARA IK", delta);
        SERIAL_ECHOPAIR("  SCARA (x,y) ", sx);
        SERIAL_ECHOPAIR(",", sy);
        SERIAL_ECHOPAIR(" C2=", C2);
        SERIAL_ECHOPAIR(" S2=", S2);
        SERIAL_ECHOPAIR(" Theta=", THETA);
        SERIAL_ECHOLNPAIR(" Phi=", PHI);
      //*/
    }
  
  #endif // MORGAN_SCARA
  
  #if ENABLED(TEMP_STAT_LEDS)
  
    static bool red_led = false;
    static millis_t next_status_led_update_ms = 0;
  
    void handle_status_leds(void) {
      if (ELAPSED(millis(), next_status_led_update_ms)) {
        next_status_led_update_ms += 500; // Update every 0.5s
        float max_temp = 0.0;
        #if HAS_TEMP_BED
          max_temp = MAX3(max_temp, thermalManager.degTargetBed(), thermalManager.degBed());
        #endif
        HOTEND_LOOP() {
          max_temp = MAX3(max_temp, thermalManager.degHotend(e), thermalManager.degTargetHotend(e));
        }
        bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
        if (new_led != red_led) {
          red_led = new_led;
          #if PIN_EXISTS(STAT_LED_RED)
            WRITE(STAT_LED_RED_PIN, new_led ? HIGH : LOW);
            #if PIN_EXISTS(STAT_LED_BLUE)
              WRITE(STAT_LED_BLUE_PIN, new_led ? LOW : HIGH);
            #endif
          #else
            WRITE(STAT_LED_BLUE_PIN, new_led ? HIGH : LOW);
          #endif
        }
      }
    }
  
  #endif
  
  #if ENABLED(FILAMENT_RUNOUT_SENSOR)
  
    void handle_filament_runout() {
      if (!filament_ran_out) {
        filament_ran_out = true;
        enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
        stepper.synchronize();
      }
    }
  
  #endif // FILAMENT_RUNOUT_SENSOR
  
  #if ENABLED(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
  
  float calculate_volumetric_multiplier(float diameter) {
    if (!volumetric_enabled || diameter == 0) return 1.0;
    return 1.0 / (M_PI * diameter * 0.5 * diameter * 0.5);
  }
  
  void calculate_volumetric_multipliers() {
    for (uint8_t i = 0; i < COUNT(filament_size); i++)
      volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
  }
  
  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();
  }
  
  /**
   * 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)
   */
  void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
  
    #if ENABLED(FILAMENT_RUNOUT_SENSOR)
      if ((IS_SD_PRINTING || print_job_timer.isRunning()) && (READ(FIL_RUNOUT_PIN) == FIL_RUNOUT_INVERTING))
        handle_filament_runout();
    #endif
  
    if (commands_in_queue < BUFSIZE) get_available_commands();
  
    millis_t ms = millis();
  
    if (max_inactive_time && ELAPSED(ms, previous_cmd_ms + max_inactive_time)) kill(PSTR(MSG_KILLED));
  
    if (stepper_inactive_time && ELAPSED(ms, previous_cmd_ms + stepper_inactive_time)
        && !ignore_stepper_queue && !planner.blocks_queued()) {
      #if ENABLED(DISABLE_INACTIVE_X)
        disable_x();
      #endif
      #if ENABLED(DISABLE_INACTIVE_Y)
        disable_y();
      #endif
      #if ENABLED(DISABLE_INACTIVE_Z)
        disable_z();
      #endif
      #if ENABLED(DISABLE_INACTIVE_E)
        disable_e0();
        disable_e1();
        disable_e2();
        disable_e3();
      #endif
    }
  
    #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH
      if (chdkActive && PENDING(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 = 2500;
      if (!IS_SD_PRINTING && !READ(HOME_PIN)) {
        if (!homeDebounceCount) {
          enqueue_and_echo_commands_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
  
    #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
      if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
        && thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
        bool oldstatus;
        #if ENABLED(SWITCHING_EXTRUDER)
          oldstatus = E0_ENABLE_READ;
          enable_e0();
        #else // !SWITCHING_EXTRUDER
          switch (active_extruder) {
            case 0:
              oldstatus = E0_ENABLE_READ;
              enable_e0();
              break;
            #if E_STEPPERS > 1
              case 1:
                oldstatus = E1_ENABLE_READ;
                enable_e1();
                break;
              #if E_STEPPERS > 2
                case 2:
                  oldstatus = E2_ENABLE_READ;
                  enable_e2();
                  break;
                #if E_STEPPERS > 3
                  case 3:
                    oldstatus = E3_ENABLE_READ;
                    enable_e3();
                    break;
                #endif
              #endif
            #endif
          }
        #endif // !SWITCHING_EXTRUDER
  
        previous_cmd_ms = ms; // refresh_cmd_timeout()
  
        #if IS_KINEMATIC
          inverse_kinematics(current_position);
          ADJUST_DELTA(current_position);
          planner.buffer_line(
            delta[A_AXIS], delta[B_AXIS], delta[C_AXIS],
            current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
            MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
          );
        #else
          planner.buffer_line(
            current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
            current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
            MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
          );
        #endif
        stepper.synchronize();
        planner.set_e_position_mm(current_position[E_AXIS]);
        #if ENABLED(SWITCHING_EXTRUDER)
          E0_ENABLE_WRITE(oldstatus);
        #else
          switch (active_extruder) {
            case 0:
              E0_ENABLE_WRITE(oldstatus);
              break;
            #if E_STEPPERS > 1
              case 1:
                E1_ENABLE_WRITE(oldstatus);
                break;
              #if E_STEPPERS > 2
                case 2:
                  E2_ENABLE_WRITE(oldstatus);
                  break;
                #if E_STEPPERS > 3
                  case 3:
                    E3_ENABLE_WRITE(oldstatus);
                    break;
                #endif
              #endif
            #endif
          }
        #endif // !SWITCHING_EXTRUDER
      }
    #endif // EXTRUDER_RUNOUT_PREVENT
  
    #if ENABLED(DUAL_X_CARRIAGE)
      // handle delayed move timeout
      if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
        // travel moves have been received so enact them
        delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
        set_destination_to_current();
        prepare_move_to_destination();
      }
    #endif
  
    #if ENABLED(TEMP_STAT_LEDS)
      handle_status_leds();
    #endif
  
    planner.check_axes_activity();
  }
  
  /**
   * Standard idle routine keeps the machine alive
   */
  void idle(
    #if ENABLED(FILAMENT_CHANGE_FEATURE)
      bool no_stepper_sleep/*=false*/
    #endif
  ) {
    lcd_update();
  
    host_keepalive();
  
    #if ENABLED(AUTO_REPORT_TEMPERATURES) && (HAS_TEMP_HOTEND || HAS_TEMP_BED)
      auto_report_temperatures();
    #endif
  
    manage_inactivity(
      #if ENABLED(FILAMENT_CHANGE_FEATURE)
        no_stepper_sleep
      #endif
    );
  
    thermalManager.manage_heater();
  
    #if ENABLED(PRINTCOUNTER)
      print_job_timer.tick();
    #endif
  
    #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
      buzzer.tick();
    #endif
  }
  
  /**
   * Kill all activity and lock the machine.
   * After this the machine will need to be reset.
   */
  void kill(const char* lcd_msg) {
    SERIAL_ERROR_START;
    SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
  
    #if ENABLED(ULTRA_LCD)
      kill_screen(lcd_msg);
    #else
      UNUSED(lcd_msg);
    #endif
  
    delay(500); // Wait a short time
  
    cli(); // Stop interrupts
    thermalManager.disable_all_heaters();
    disable_all_steppers();
  
    #if HAS_POWER_SWITCH
      SET_INPUT(PS_ON_PIN);
    #endif
  
    suicide();
    while (1) {
      #if ENABLED(USE_WATCHDOG)
        watchdog_reset();
      #endif
    } // Wait for reset
  }
  
  /**
   * Turn off heaters and stop the print in progress
   * After a stop the machine may be resumed with M999
   */
  void stop() {
    thermalManager.disable_all_heaters();
    if (IsRunning()) {
      Running = false;
      Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
      SERIAL_ERROR_START;
      SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
      LCD_MESSAGEPGM(MSG_STOPPED);
    }
  }
  
  /**
   * Marlin entry-point: Set up before the program loop
   *  - 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
   *    • servos
   *    • LCD controller
   *    • Digipot I2C
   *    • Z probe sled
   *    • status LEDs
   */
  void setup() {
  
    #ifdef DISABLE_JTAG
      // Disable JTAG on AT90USB chips to free up pins for IO
      MCUCR = 0x80;
      MCUCR = 0x80;
    #endif
  
    #if ENABLED(FILAMENT_RUNOUT_SENSOR)
      setup_filrunoutpin();
    #endif
  
    setup_killpin();
  
    setup_powerhold();
  
    #if HAS_STEPPER_RESET
      disableStepperDrivers();
    #endif
  
    MYSERIAL.begin(BAUDRATE);
    SERIAL_PROTOCOLLNPGM("start");
    SERIAL_ECHO_START;
  
    // Check startup - does nothing if bootloader sets MCUSR to 0
    byte mcu = MCUSR;
    if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
    if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
    if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
    if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
    if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
    MCUSR = 0;
  
    SERIAL_ECHOPGM(MSG_MARLIN);
    SERIAL_CHAR(' ');
    SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
    SERIAL_EOL;
  
    #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
      SERIAL_ECHO_START;
      SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
      SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
      SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
      SERIAL_ECHOLNPGM("Compiled: " __DATE__);
    #endif
  
    SERIAL_ECHO_START;
    SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
    SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
  
    // Send "ok" after commands by default
    for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
  
    // Load data from EEPROM if available (or use defaults)
    // This also updates variables in the planner, elsewhere
    Config_RetrieveSettings();
  
    // Initialize current position based on home_offset
    memcpy(current_position, home_offset, sizeof(home_offset));
  
    // Vital to init stepper/planner equivalent for current_position
    SYNC_PLAN_POSITION_KINEMATIC();
  
    thermalManager.init();    // Initialize temperature loop
  
    #if ENABLED(USE_WATCHDOG)
      watchdog_init();
    #endif
  
    stepper.init();    // Initialize stepper, this enables interrupts!
    servo_init();
    #if HAS_PHOTOGRAPH
      OUT_WRITE(PHOTOGRAPH_PIN, LOW);
    #endif
  
    #if HAS_CASE_LIGHT
      update_case_light();
    #endif
  
    #if HAS_BED_PROBE
      endstops.enable_z_probe(false);
    #endif
  
    #if HAS_CONTROLLERFAN
      SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
    #endif
  
    #if HAS_STEPPER_RESET
      enableStepperDrivers();
    #endif
  
    #if ENABLED(DIGIPOT_I2C)
      digipot_i2c_init();
    #endif
  
    #if ENABLED(DAC_STEPPER_CURRENT)
      dac_init();
    #endif
  
    #if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
      OUT_WRITE(SLED_PIN, LOW); // turn it off
    #endif // Z_PROBE_SLED
  
    setup_homepin();
  
    #if PIN_EXISTS(STAT_LED_RED)
      OUT_WRITE(STAT_LED_RED_PIN, LOW); // turn it off
    #endif
  
    #if PIN_EXISTS(STAT_LED_BLUE)
      OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // turn it off
    #endif
  
    #if ENABLED(RGB_LED)
      pinMode(RGB_LED_R_PIN, OUTPUT);
      pinMode(RGB_LED_G_PIN, OUTPUT);
      pinMode(RGB_LED_B_PIN, OUTPUT);
    #endif
  
    lcd_init();
    #if ENABLED(SHOW_BOOTSCREEN)
      #if ENABLED(DOGLCD)
        safe_delay(BOOTSCREEN_TIMEOUT);
      #elif ENABLED(ULTRA_LCD)
      //  bootscreen();
        #if DISABLED(SDSUPPORT)
          lcd_init();
        #endif
      #endif
    #endif
  
    #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
      // Initialize mixing to 100% color 1
      for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
        mixing_factor[i] = (i == 0) ? 1.0 : 0.0;
      for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
        for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
          mixing_virtual_tool_mix[t][i] = mixing_factor[i];
    #endif
  
    #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
      i2c.onReceive(i2c_on_receive);
      i2c.onRequest(i2c_on_request);
    #endif
  
    #if ENABLED(ENDSTOP_INTERRUPTS_FEATURE)
      setup_endstop_interrupts();
    #endif
  }
  
  /**
   * 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) get_available_commands();
  
    #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();
            SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
            ok_to_send();
          }
          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
              ok_to_send();
          }
        }
        else
          process_next_command();
  
      #else
  
        process_next_command();
  
      #endif // SDSUPPORT
  
      // The queue may be reset by a command handler or by code invoked by idle() within a handler
      if (commands_in_queue) {
        --commands_in_queue;
        cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
      }
    }
    endstops.report_state();
    idle();
  }
  