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

#include "Marlin.h"

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

#if ENABLED(MESH_BED_LEVELING)
  #include "mesh_bed_leveling.h"
#endif

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

#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

/**
 * Look here for descriptions of G-codes:
 *  - http://linuxcnc.org/handbook/gcode/g-code.html
 *  - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
 *
 * Help us document these G-codes online:
 *  - https://github.com/MarlinFirmware/Marlin/wiki/G-Code-in-Marlin
 *  - http://reprap.org/wiki/G-code
 *
 * -----------------
 * Implemented Codes
 * -----------------
 *
 * "G" Codes
 *
 * G0  -> G1
 * G1  - Coordinated Movement X Y Z E
 * G2  - CW ARC
 * G3  - CCW ARC
 * G4  - Dwell S<seconds> or P<milliseconds>
 * G10 - retract filament according to settings of M207
 * G11 - retract recover filament according to settings of M208
 * G28 - Home one or more axes
 * G29 - Detailed Z probe, probes the bed at 3 or more points.  Will fail if you haven't homed yet.
 * G30 - Single Z probe, probes bed at current XY location.
 * G31 - Dock sled (Z_PROBE_SLED only)
 * G32 - Undock sled (Z_PROBE_SLED only)
 * 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
 * M21  - Init SD card
 * M22  - Release SD card
 * M23  - Select SD file (M23 filename.g)
 * M24  - Start/resume SD print
 * M25  - Pause SD print
 * M26  - Set SD position in bytes (M26 S12345)
 * M27  - Report SD print status
 * M28  - Start SD write (M28 filename.g)
 * M29  - Stop SD write
 * M30  - Delete file from SD (M30 filename.g)
 * M31  - Output time since last M109 or SD card start to serial
 * M32  - Select file and start SD print (Can be used _while_ printing from SD card files):
 *        syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
 *        Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
 *        The '#' is necessary when calling from within sd files, as it stops buffer prereading
 * M33  - Get the longname version of a path
 * M42  - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
 * M48  - Measure Z_Probe repeatability. M48 [P # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
 * M80  - Turn on Power Supply
 * M81  - Turn off Power Supply
 * M82  - Set E codes absolute (default)
 * M83  - Set E codes relative while in Absolute Coordinates (G90) mode
 * M84  - Disable steppers until next move,
 *        or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
 * M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
 * M92  - Set axis_steps_per_unit - same syntax as G92
 * M104 - Set extruder target temp
 * M105 - Read current temp
 * M106 - Fan on
 * M107 - Fan off
 * M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
 *        Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
 *        IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
 * M110 - Set the current line number
 * M111 - Set debug flags with S<mask>. See flag bits defined in Marlin.h.
 * M112 - Emergency stop
 * M114 - Output current position to serial port
 * M115 - Capabilities string
 * M117 - Display a message on the controller screen
 * M119 - Output Endstop status to serial port
 * M120 - Enable endstop detection
 * M121 - Disable endstop detection
 * M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
 * M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
 * M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 * M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
 * M140 - Set bed target temp
 * M145 - Set the heatup state H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
 * M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
 * M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
 *        Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
 * M200 - set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).:D<millimeters>-
 * M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
 * M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
 * M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
 * M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
 * M205 -  advanced settings:  minimum travel speed S=while printing T=travel only,  B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
 * M206 - Set additional homing offset
 * M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
 * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
 * M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
 * M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
 * M220 - Set speed factor override percentage: S<factor in percent>
 * M221 - Set extrude factor override percentage: S<factor in percent>
 * M226 - Wait until the specified pin reaches the state required: P<pin number> S<pin state>
 * M240 - Trigger a camera to take a photograph
 * M250 - Set LCD contrast C<contrast value> (value 0..63)
 * M280 - Set servo position absolute. P: servo index, S: angle or microseconds
 * M300 - Play beep sound S<frequency Hz> P<duration ms>
 * M301 - Set PID parameters P I and D
 * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
 * M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
 * M304 - Set bed PID parameters P I and D
 * M380 - Activate solenoid on active extruder
 * M381 - Disable all solenoids
 * M400 - Finish all moves
 * M401 - Lower Z probe if present
 * M402 - Raise Z probe if present
 * M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
 * M405 - Turn on Filament Sensor extrusion control.  Optional D<delay in cm> to set delay in centimeters between sensor and extruder
 * M406 - Turn off Filament Sensor extrusion control
 * M407 - Display measured filament diameter
 * M410 - Quickstop. Abort all the planned moves
 * M420 - Enable/Disable Mesh Leveling (with current values) S1=enable S0=disable
 * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<mm> Y<mm> Z<mm>
 * M428 - Set the home_offset logically based on the current_position
 * M500 - Store parameters in EEPROM
 * M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
 * M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
 * M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
 * M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
 * M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
 * M665 - Set delta configurations: L<diagonal rod> R<delta radius> S<segments/s>
 * M666 - Set delta endstop adjustment
 * M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
 * M907 - Set digital trimpot motor current using axis codes.
 * M908 - Control digital trimpot directly.
 * M350 - Set microstepping mode.
 * M351 - Toggle MS1 MS2 pins directly.
 *
 * ************ SCARA Specific - This can change to suit future G-code regulations
 * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
 * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
 * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
 * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
 * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
 * M365 - SCARA calibration: Scaling factor, X, Y, Z axis
 * ************* SCARA End ***************
 *
 * ************ Custom codes - This can change to suit future G-code regulations
 * M100 - Watch Free Memory (For Debugging Only)
 * M851 - Set Z probe's Z offset (mm above extruder -- The value will always be negative)


 * M928 - Start SD logging (M928 filename.g) - ended by M29
 * M999 - Restart after being stopped by error
 *
 * "T" Codes
 *
 * T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
 *
 */

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

#if ENABLED(SDSUPPORT)
  CardReader card;
#endif

bool Running = true;

uint8_t marlin_debug_flags = DEBUG_INFO | DEBUG_ERRORS;

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

static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;

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

const float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedrate_multiplier = 100; //100->1 200->2
int saved_feedrate_multiplier;
int extruder_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
float home_offset[3] = { 0 };
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };

#if FAN_COUNT > 0
  int fanSpeeds[FAN_COUNT] = { 0 };
#endif

uint8_t active_extruder = 0;
bool cancel_heatup = false;

const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};

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

#if ENABLED(AUTO_BED_LEVELING_FEATURE)
  int xy_travel_speed = XY_TRAVEL_SPEED;
  float zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
#endif

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

// Extruder offsets
#if EXTRUDERS > 1
  #ifndef EXTRUDER_OFFSET_X
    #define EXTRUDER_OFFSET_X { 0 }
  #endif
  #ifndef EXTRUDER_OFFSET_Y
    #define EXTRUDER_OFFSET_Y { 0 }
  #endif
  float extruder_offset[][EXTRUDERS] = {
    EXTRUDER_OFFSET_X,
    EXTRUDER_OFFSET_Y
    #if ENABLED(DUAL_X_CARRIAGE)
      , { 0 } // supports offsets in XYZ plane
    #endif
  };
#endif

#if HAS_SERVO_ENDSTOPS
  const int servo_endstop_id[] = SERVO_ENDSTOP_IDS;
  const int servo_endstop_angle[][2] = SERVO_ENDSTOP_ANGLES;
#endif

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

#if ENABLED(FWRETRACT)

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

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

#endif // FWRETRACT

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

#if ENABLED(DELTA)

  #define TOWER_1 X_AXIS
  #define TOWER_2 Y_AXIS
  #define TOWER_3 Z_AXIS

  float delta[3] = { 0 };
  #define SIN_60 0.8660254037844386
  #define COS_60 0.5
  float endstop_adj[3] = { 0 };
  // these are the default values, can be overriden with M665
  float delta_radius = DELTA_RADIUS;
  float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
  float delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1);
  float delta_tower2_x =  SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower
  float delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2);
  float delta_tower3_x = 0;                                                    // back middle tower
  float delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3);
  float delta_diagonal_rod = DELTA_DIAGONAL_ROD;
  float delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1;
  float delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2;
  float delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3;
  float delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1);
  float delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2);
  float delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3);
  //float delta_diagonal_rod_2 = sq(delta_diagonal_rod);
  float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
    int delta_grid_spacing[2] = { 0, 0 };
    float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
  #endif
#else
  static bool home_all_axis = true;
#endif

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

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

#if ENABLED(FILAMENT_RUNOUT_SENSOR)
  static bool filrunoutEnqueued = false;
#endif

static bool send_ok[BUFSIZE];

#if HAS_SERVOS
  Servo servo[NUM_SERVOS];
#endif

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

#if ENABLED(PID_ADD_EXTRUSION_RATE)
  int lpq_len = 20;
#endif

#if ENABLED(HOST_KEEPALIVE_FEATURE)

  // States for managing Marlin and host communication
  // Marlin sends messages if blocked or busy
  enum MarlinBusyState {
    NOT_BUSY,           // Not in a handler
    IN_HANDLER,         // Processing a GCode
    IN_PROCESS,         // Known to be blocking command input (as in G29)
    PAUSED_FOR_USER,    // Blocking pending any input
    PAUSED_FOR_INPUT    // Blocking pending text input (concept)
  };

  static MarlinBusyState busy_state = NOT_BUSY;
  static millis_t next_busy_signal_ms = -1;
  #define KEEPALIVE_STATE(n) do{ busy_state = n; }while(0)
#else
  #define host_keepalive() ;
  #define KEEPALIVE_STATE(n) ;
#endif // HOST_KEEPALIVE_FEATURE

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

void process_next_command();

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

bool setTargetedHotend(int code);

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); }

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

#if ENABLED(HAS_Z_MIN_PROBE)
  extern volatile bool z_probe_is_active;
#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

/**
 * Inject the next "immediate" command, when possible.
 * Return true if any immediate commands remain to inject.
 */
static bool drain_queued_commands_P() {
  if (queued_commands_P != NULL) {
    size_t i = 0;
    char c, cmd[30];
    strncpy_P(cmd, queued_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?
        queued_commands_P += i + 1;        // advance to the next command
      else
        queued_commands_P = NULL;          // nul char? no more commands
    }
  }
  return (queued_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_queued_commands_P() must be called repeatedly to drain the commands afterwards
 */
void enqueue_and_echo_commands_P(const char* pgcode) {
  queued_commands_P = pgcode;
  drain_queued_commands_P(); // first command executed asap (when possible)
}

/**
 * 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;
}

/**
 * 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_ECHOPGM(MSG_Enqueueing);
    SERIAL_ECHO(cmd);
    SERIAL_ECHOLNPGM("\"");
    return true;
  }
  return false;
}

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

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

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


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

void setup_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_SERVO_ENDSTOPS

    z_probe_is_active = false;

    /**
     * Set position of all defined Servo Endstops
     *
     * ** UNSAFE! - NEEDS UPDATE! **
     *
     * 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!
     *
     */
    for (int i = 0; i < 3; i++)
      if (servo_endstop_id[i] >= 0)
        servo[servo_endstop_id[i]].move(servo_endstop_angle[i][1]);

  #endif // HAS_SERVO_ENDSTOPS

}

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

/**
 * Marlin entry-point: Set up before the program loop
 *  - Set up 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

  setup_killpin();
  setup_filrunoutpin();
  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_ECHOLNPGM(" " SHORT_BUILD_VERSION);

  #ifdef STRING_DISTRIBUTION_DATE
    #ifdef STRING_CONFIG_H_AUTHOR
      SERIAL_ECHO_START;
      SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
      SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
      SERIAL_ECHOPGM(MSG_AUTHOR);
      SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
      SERIAL_ECHOPGM("Compiled: ");
      SERIAL_ECHOLNPGM(__DATE__);
    #endif // STRING_CONFIG_H_AUTHOR
  #endif // STRING_DISTRIBUTION_DATE

  SERIAL_ECHO_START;
  SERIAL_ECHOPGM(MSG_FREE_MEMORY);
  SERIAL_ECHO(freeMemory());
  SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
  SERIAL_ECHOLN((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;

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

  lcd_init();

  tp_init();    // Initialize temperature loop
  plan_init();  // Initialize planner;

  #if ENABLED(USE_WATCHDOG)
    watchdog_init();
  #endif

  st_init();    // Initialize stepper, this enables interrupts!
  setup_photpin();
  servo_init();

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

  setup_homepin();

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

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

/**
 * 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_command();

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

  if (commands_in_queue) {

    #if ENABLED(SDSUPPORT)

      if (card.saving) {
        char* command = command_queue[cmd_queue_index_r];
        if (strstr_P(command, PSTR("M29"))) {
          // M29 closes the file
          card.closefile();
          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

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

void gcode_line_error(const char* err, bool doFlush = true) {
  SERIAL_ERROR_START;
  serialprintPGM(err);
  SERIAL_ERRORLN(gcode_LastN);
  //Serial.println(gcode_N);
  if (doFlush) FlushSerialRequestResend();
  serial_count = 0;
}

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

  static char serial_line_buffer[MAX_CMD_SIZE];
  static boolean serial_comment_mode = false;

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

  #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0
    static millis_t last_command_time = 0;
    millis_t ms = millis();

    if (!MYSERIAL.available() && commands_in_queue == 0 && 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) return; // empty lines just exit

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

      #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();
        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)

    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);
          print_job_stop(true);
          char time[30];
          millis_t t = print_job_timer();
          int hours = t / 60 / 60, minutes = (t / 60) % 60;
          sprintf_P(time, PSTR("%i " MSG_END_HOUR " %i " MSG_END_MINUTE), hours, minutes);
          SERIAL_ECHO_START;
          SERIAL_ECHOLN(time);
          lcd_setstatus(time, true);
          card.printingHasFinished();
          card.checkautostart(true);
        }
        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
}

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 (c >= '0' && c <= '9');
}

float code_value() {
  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;
}

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

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

bool code_seen(char code) {
  seen_pointer = strchr(current_command_args, code);
  return (seen_pointer != NULL); // Return TRUE if the code-letter was found
}

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

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

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

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);

#if ENABLED(DUAL_X_CARRIAGE)

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

  static int dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;

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

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

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

#endif //DUAL_X_CARRIAGE

#if ENABLED(DEBUG_LEVELING_FEATURE)
  void print_xyz(const char* prefix, const float x, const float y, const float z) {
    SERIAL_ECHO(prefix);
    SERIAL_ECHOPAIR(": (", x);
    SERIAL_ECHOPAIR(", ", y);
    SERIAL_ECHOPAIR(", ", z);
    SERIAL_ECHOLNPGM(")");
  }
  void print_xyz(const char* prefix, const float xyz[]) {
    print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
  }
#endif

static void set_axis_is_at_home(AxisEnum axis) {

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

  #if ENABLED(SCARA)

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

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

      // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
      // SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
      // Works out real Homeposition angles using inverse kinematics,
      // and calculates homing offset using forward kinematics
      calculate_delta(homeposition);

      // SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
      // SERIAL_ECHOPGM(" base Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);

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

      // SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(home_offset[X_AXIS]);
      // SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(home_offset[Y_AXIS]);
      // SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
      // SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);

      calculate_SCARA_forward_Transform(delta);

      // SERIAL_ECHOPGM("Delta X="); SERIAL_ECHO(delta[X_AXIS]);
      // SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);

      current_position[axis] = delta[axis];

      // SCARA home positions are based on configuration since the actual limits are determined by the
      // inverse kinematic transform.
      min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
      max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
    }
    else
  #endif
  {
    current_position[axis] = base_home_pos(axis) + home_offset[axis];
    min_pos[axis] = base_min_pos(axis) + home_offset[axis];
    max_pos[axis] = base_max_pos(axis) + home_offset[axis];

    #if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0
      if (axis == Z_AXIS) current_position[Z_AXIS] -= zprobe_zoffset;
    #endif

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOPAIR("set_axis_is_at_home ", (unsigned long)axis);
        SERIAL_ECHOPAIR(" > (home_offset[axis]==", home_offset[axis]);
        print_xyz(") > current_position", current_position);
      }
    #endif
  }
}

/**
 * Some planner shorthand inline functions
 */
inline void set_homing_bump_feedrate(AxisEnum axis) {
  const int 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");
  }
  feedrate = homing_feedrate[axis] / hbd;
}
inline void line_to_current_position() {
  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate / 60, active_extruder);
}
inline void line_to_z(float zPosition) {
  plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate / 60, active_extruder);
}
inline void line_to_destination(float mm_m) {
  plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], mm_m / 60, active_extruder);
}
inline void line_to_destination() {
  line_to_destination(feedrate);
}
inline void sync_plan_position() {
  plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
#if ENABLED(DELTA) || ENABLED(SCARA)
  inline void sync_plan_position_delta() {
    calculate_delta(current_position);
    plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  }
#endif
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }

static void setup_for_endstop_move() {
  saved_feedrate = feedrate;
  saved_feedrate_multiplier = feedrate_multiplier;
  feedrate_multiplier = 100;
  refresh_cmd_timeout();
  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (marlin_debug_flags & DEBUG_LEVELING) {
      SERIAL_ECHOLNPGM("setup_for_endstop_move > enable_endstops(true)");
    }
  #endif
  enable_endstops(true);
}

#if ENABLED(AUTO_BED_LEVELING_FEATURE)

  #if ENABLED(DELTA)
    /**
     * Calculate delta, start a line, and set current_position to destination
     */
    void prepare_move_raw() {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          print_xyz("prepare_move_raw > destination", destination);
        }
      #endif
      refresh_cmd_timeout();
      calculate_delta(destination);
      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
      set_current_to_destination();
    }
  #endif

  #if ENABLED(AUTO_BED_LEVELING_GRID)

    #if DISABLED(DELTA)

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

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

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

        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            print_xyz("set_bed_level_equation_lsq > current_position", current_position);
          }
        #endif

        sync_plan_position();
      }

    #endif // !DELTA

  #else // !AUTO_BED_LEVELING_GRID

    static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float z_at_pt_3) {

      plan_bed_level_matrix.set_to_identity();

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

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

      plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);

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

      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          print_xyz("set_bed_level_equation_3pts > current_position", current_position);
        }
      #endif

      sync_plan_position();
    }

  #endif // !AUTO_BED_LEVELING_GRID

  static void run_z_probe() {

    refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding

    #if ENABLED(DELTA)

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

      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          SERIAL_ECHOLNPGM("run_z_probe (DELTA) 1");
        }
      #endif

      // move down slowly until you find the bed
      feedrate = homing_feedrate[Z_AXIS] / 4;
      destination[Z_AXIS] = -10;
      prepare_move_raw(); // this will also set_current_to_destination
      st_synchronize();
      endstops_hit_on_purpose(); // clear endstop hit flags

      // we have to let the planner know where we are right now as it is not where we said to go.
      long stop_steps = st_get_position(Z_AXIS);
      float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
      current_position[Z_AXIS] = mm;

      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          print_xyz("run_z_probe (DELTA) 2 > current_position", current_position);
        }
      #endif

      sync_plan_position_delta();

    #else // !DELTA

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

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

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

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

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

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

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

      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          print_xyz("run_z_probe > current_position", current_position);
        }
      #endif

    #endif // !DELTA
  }

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

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        print_xyz("do_blocking_move_to", x, y, z);
      }
    #endif

    #if ENABLED(DELTA)

      feedrate = XY_TRAVEL_SPEED;

      destination[X_AXIS] = x;
      destination[Y_AXIS] = y;
      destination[Z_AXIS] = z;
      prepare_move_raw(); // this will also set_current_to_destination
      st_synchronize();

    #else

      feedrate = homing_feedrate[Z_AXIS];

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

      feedrate = xy_travel_speed;

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

    #endif

    feedrate = oldFeedRate;
  }

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

  static void clean_up_after_endstop_move() {
    #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          SERIAL_ECHOLNPGM("clean_up_after_endstop_move > ENDSTOPS_ONLY_FOR_HOMING > enable_endstops(false)");
        }
      #endif
      enable_endstops(false);
    #endif
    feedrate = saved_feedrate;
    feedrate_multiplier = saved_feedrate_multiplier;
    refresh_cmd_timeout();
  }

  #if ENABLED(HAS_Z_MIN_PROBE)

  static void deploy_z_probe() {

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        print_xyz("deploy_z_probe > current_position", current_position);
      }
    #endif

    if (z_probe_is_active) return;

    #if HAS_SERVO_ENDSTOPS

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

    #elif ENABLED(Z_PROBE_ALLEN_KEY)
      feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE;

      // If endstop is already false, the Z probe is deployed
      #if ENABLED(Z_MIN_PROBE_ENDSTOP)
        bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
        if (z_probe_endstop)
      #else
        bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
        if (z_min_endstop)
      #endif
        {

          // Move to the start position to initiate deployment
          destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_X;
          destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Y;
          destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_1_Z;
          prepare_move_raw(); // this will also set_current_to_destination

          // Move to engage deployment
          if (Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)
            feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE;
          if (Z_PROBE_ALLEN_KEY_DEPLOY_2_X != Z_PROBE_ALLEN_KEY_DEPLOY_1_X)
            destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_X;
          if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Y != Z_PROBE_ALLEN_KEY_DEPLOY_1_Y)
            destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Y;
          if (Z_PROBE_ALLEN_KEY_DEPLOY_2_Z != Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
            destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_2_Z;
          prepare_move_raw();

          #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3_X
            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
              feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;

            // Move to trigger deployment
            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE != Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)
              feedrate = Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE;
            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_X != Z_PROBE_ALLEN_KEY_DEPLOY_2_X)
              destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_X;
            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Y != Z_PROBE_ALLEN_KEY_DEPLOY_2_Y)
              destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Y;
            if (Z_PROBE_ALLEN_KEY_DEPLOY_3_Z != Z_PROBE_ALLEN_KEY_DEPLOY_2_Z)
              destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_3_Z;

            prepare_move_raw();
          #endif
        }

      // Partially Home X,Y for safety
      destination[X_AXIS] = destination[X_AXIS] * 0.75;
      destination[Y_AXIS] = destination[Y_AXIS] * 0.75;
      prepare_move_raw(); // this will also set_current_to_destination

      st_synchronize();

      #if ENABLED(Z_MIN_PROBE_ENDSTOP)
        z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
        if (z_probe_endstop)
      #else
        z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
        if (z_min_endstop)
      #endif
        {
          if (IsRunning()) {
            SERIAL_ERROR_START;
            SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
            LCD_ALERTMESSAGEPGM("Err: ZPROBE");
          }
          Stop();
        }

    #endif // Z_PROBE_ALLEN_KEY

    #if ENABLED(FIX_MOUNTED_PROBE)
      // Noting to be done. Just set z_probe_is_active
    #endif

    z_probe_is_active = true;

  }

  static void stow_z_probe(bool doRaise = true) {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        print_xyz("stow_z_probe > current_position", current_position);
      }
    #endif

    if (!z_probe_is_active) return;

    #if HAS_SERVO_ENDSTOPS

      // Retract Z Servo endstop if enabled
      if (servo_endstop_id[Z_AXIS] >= 0) {

        #if Z_RAISE_AFTER_PROBING > 0
          if (doRaise) {
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (marlin_debug_flags & DEBUG_LEVELING) {
                SERIAL_ECHOPAIR("Raise Z (after) by ", (float)Z_RAISE_AFTER_PROBING);
                SERIAL_EOL;
                SERIAL_ECHO("> SERVO_ENDSTOPS > raise_z_after_probing()");
                SERIAL_EOL;
              }
            #endif
            raise_z_after_probing(); // this also updates current_position
            st_synchronize();
          }
        #endif

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

    #elif ENABLED(Z_PROBE_ALLEN_KEY)

      // Move up for safety
      feedrate = Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE;

      #if Z_RAISE_AFTER_PROBING > 0
        destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
        prepare_move_raw(); // this will also set_current_to_destination
      #endif

      // Move to the start position to initiate retraction
      destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_X;
      destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Y;
      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_1_Z;
      prepare_move_raw();

      // Move the nozzle down to push the Z probe into retracted position
      if (Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)
        feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
      if (Z_PROBE_ALLEN_KEY_STOW_2_X != Z_PROBE_ALLEN_KEY_STOW_1_X)
        destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_X;
      if (Z_PROBE_ALLEN_KEY_STOW_2_Y != Z_PROBE_ALLEN_KEY_STOW_1_Y)
        destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Y;
      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_2_Z;
      prepare_move_raw();

      // Move up for safety
      if (Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE != Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)
        feedrate = Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE;
      if (Z_PROBE_ALLEN_KEY_STOW_3_X != Z_PROBE_ALLEN_KEY_STOW_2_X)
        destination[X_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_X;
      if (Z_PROBE_ALLEN_KEY_STOW_3_Y != Z_PROBE_ALLEN_KEY_STOW_2_Y)
        destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Y;
      destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_STOW_3_Z;
      prepare_move_raw();

      // Home XY for safety
      feedrate = homing_feedrate[X_AXIS] / 2;
      destination[X_AXIS] = 0;
      destination[Y_AXIS] = 0;
      prepare_move_raw(); // this will also set_current_to_destination

      st_synchronize();

      #if ENABLED(Z_MIN_PROBE_ENDSTOP)
        bool z_probe_endstop = (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING);
        if (!z_probe_endstop)
      #else
        bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
        if (!z_min_endstop)
      #endif
        {
          if (IsRunning()) {
            SERIAL_ERROR_START;
            SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
            LCD_ALERTMESSAGEPGM("Err: ZPROBE");
          }
          Stop();
        }
    #endif // Z_PROBE_ALLEN_KEY

    #if ENABLED(FIX_MOUNTED_PROBE)
      // Noting to be done. Just set z_probe_is_active
    #endif

    z_probe_is_active = false;
  }
  #endif // HAS_Z_MIN_PROBE

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

  // Probe bed height at position (x,y), returns the measured z value
  static float probe_pt(float x, float y, float z_before, ProbeAction probe_action = ProbeDeployAndStow, int verbose_level = 1) {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOLNPGM("probe_pt >>>");
        SERIAL_ECHOPAIR("> ProbeAction:", (unsigned long)probe_action);
        SERIAL_EOL;
        print_xyz("> current_position", current_position);
      }
    #endif

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOPAIR("Z Raise to z_before ", z_before);
        SERIAL_EOL;
        SERIAL_ECHOPAIR("> do_blocking_move_to_z ", z_before);
        SERIAL_EOL;
      }
    #endif

    // Move Z up to the z_before height, then move the Z probe to the given XY
    do_blocking_move_to_z(z_before); // this also updates current_position

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOPAIR("> do_blocking_move_to_xy ", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
        SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
        SERIAL_EOL;
      }
    #endif

    do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); // this also updates current_position

    #if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
      if (probe_action & ProbeDeploy) {
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOLNPGM("> ProbeDeploy");
          }
        #endif
        deploy_z_probe();
      }
    #endif

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

    #if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
      if (probe_action & ProbeStow) {
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOLNPGM("> ProbeStow (stow_z_probe will do Z Raise)");
          }
        #endif
        stow_z_probe();
      }
    #endif

    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 (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOLNPGM("<<< probe_pt");
      }
    #endif

    return measured_z;
  }

  #if ENABLED(DELTA)

    /**
     * All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
     */

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

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

    // Print calibration results for plotting or manual frame adjustment.
    static void print_bed_level() {
      for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
        for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
          SERIAL_PROTOCOL_F(bed_level[x][y], 2);
          SERIAL_PROTOCOLCHAR(' ');
        }
        SERIAL_EOL;
      }
    }

    // Reset calibration results to zero.
    void reset_bed_level() {
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          SERIAL_ECHOLNPGM("reset_bed_level");
        }
      #endif
      for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
        for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
          bed_level[x][y] = 0.0;
        }
      }
    }

  #endif // DELTA

  #if HAS_SERVO_ENDSTOPS && DISABLED(Z_PROBE_SLED)

    void raise_z_for_servo() {
      float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
      // The zprobe_zoffset is negative any switch below the nozzle, so
      // multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
      z_dest += axis_known_position[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
      if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
    }

  #endif

#endif // AUTO_BED_LEVELING_FEATURE

static void unknown_position_error() {
  LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
  SERIAL_ECHO_START;
  SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
}

#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.
   *
   * dock[in]     If true, move to MAX_X and engage the electromagnet
   * offset[in]   The additional distance to move to adjust docking location
   */
  static void dock_sled(bool dock, int offset = 0) {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOPAIR("dock_sled", dock);
        SERIAL_EOL;
      }
    #endif

    if (z_probe_is_active == dock) return;

    if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
      unknown_position_error();
      return;
    }

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

    z_probe_is_active = dock;
  }

#endif // Z_PROBE_SLED



/**
 * Home an individual axis
 */

#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)

static void homeaxis(AxisEnum axis) {
  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (marlin_debug_flags & DEBUG_LEVELING) {
      SERIAL_ECHOPAIR(">>> homeaxis(", (unsigned long)axis);
      SERIAL_CHAR(')');
      SERIAL_EOL;
    }
  #endif
  #define HOMEAXIS_DO(LETTER) \
    ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))

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

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

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

    #if ENABLED(Z_PROBE_SLED)
      // Get Probe
      if (axis == Z_AXIS) {
        if (axis_home_dir < 0) dock_sled(false);
      }
    #elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)

      // Deploy a Z probe if there is one, and homing towards the bed
      if (axis == Z_AXIS) {
        if (axis_home_dir < 0) deploy_z_probe();
      }

    #endif

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

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

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

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

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOLNPGM("> enable_endstops(false)");
      }
    #endif
    enable_endstops(false); // Disable endstops while moving away

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

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOLNPGM("> enable_endstops(true)");
      }
    #endif
    enable_endstops(true); // Enable endstops for next homing move

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

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

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        print_xyz("> TRIGGER ENDSTOP > current_position", current_position);
      }
    #endif

    #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) Lock_z_motor(true); else Lock_z2_motor(true);
        sync_plan_position();

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

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

    #if ENABLED(DELTA)
      // retrace by the amount specified in endstop_adj
      if (endstop_adj[axis] * axis_home_dir < 0) {
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOLNPGM("> enable_endstops(false)");
          }
        #endif
        enable_endstops(false); // Disable endstops while moving away
        sync_plan_position();
        destination[axis] = endstop_adj[axis];
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]);
            print_xyz(" > destination", destination);
          }
        #endif
        line_to_destination();
        st_synchronize();
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOLNPGM("> enable_endstops(true)");
          }
        #endif
        enable_endstops(true); // Enable endstops for next homing move
      }
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        else {
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOPAIR("> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
            SERIAL_EOL;
          }
        }
      #endif
    #endif

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

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        print_xyz("> AFTER set_axis_is_at_home > current_position", current_position);
      }
    #endif

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

    #if ENABLED(Z_PROBE_SLED)
      // bring Z probe back
      if (axis == Z_AXIS) {
        if (axis_home_dir < 0) dock_sled(true);
      }
    #elif SERVO_LEVELING || ENABLED(FIX_MOUNTED_PROBE)

      // Deploy a Z probe if there is one, and homing towards the bed
      if (axis == Z_AXIS) {
        if (axis_home_dir < 0) {
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (marlin_debug_flags & DEBUG_LEVELING) {
              SERIAL_ECHOLNPGM("> SERVO_LEVELING > stow_z_probe");
            }
          #endif
          stow_z_probe();
        }
      }
      else

    #endif

    {
      #if HAS_SERVO_ENDSTOPS
        // Retract Servo endstop if enabled
        if (servo_endstop_id[axis] >= 0) {
          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (marlin_debug_flags & DEBUG_LEVELING) {
              SERIAL_ECHOLNPGM("> SERVO_ENDSTOPS > Stow with servo.move()");
            }
          #endif
          servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
          z_probe_is_active = false;
        }
      #endif
    }

  }

  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (marlin_debug_flags & DEBUG_LEVELING) {
      SERIAL_ECHOPAIR("<<< homeaxis(", (unsigned long)axis);
      SERIAL_CHAR(')');
      SERIAL_EOL;
    }
  #endif
}

#if ENABLED(FWRETRACT)

  void retract(bool retracting, bool swapping = false) {

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

    float oldFeedrate = feedrate;

    set_destination_to_current();

    if (retracting) {

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

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

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

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

    feedrate = oldFeedrate;
    retracted[active_extruder] = retracting;

  } // retract()

#endif // FWRETRACT

/**
 *
 * G-Code Handler functions
 *
 */

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

void unknown_command_error() {
  SERIAL_ECHO_START;
  SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
  SERIAL_ECHO(current_command);
  SERIAL_ECHOPGM("\"\n");
}

#if ENABLED(HOST_KEEPALIVE_FEATURE)

  void host_keepalive() {
    millis_t ms = millis();
    if (busy_state != NOT_BUSY) {
      if (ms < next_busy_signal_ms) return;
      switch (busy_state) {
        case NOT_BUSY:
          break;
        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;
      }
    }
    next_busy_signal_ms = ms + 2000UL;
  }

#endif //HOST_KEEPALIVE_FEATURE

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

    #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
          plan_set_e_position(current_position[E_AXIS]);  // AND from the planner
          retract(!retracted[active_extruder]);
          return;
        }
      }

    #endif //FWRETRACT

    prepare_move();
  }
}

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

    #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

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

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

    refresh_cmd_timeout();
  }
}

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

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

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

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

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

#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_short() == 1); // checks for swap retract argument
      }
    #endif
    retract(doRetract
     #if EXTRUDERS > 1
      , retracted_swap[active_extruder]
     #endif
    );
  }

#endif //FWRETRACT

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

  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (marlin_debug_flags & DEBUG_LEVELING) {
      SERIAL_ECHOLNPGM("gcode_G28 >>>");
    }
  #endif

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

  // For auto bed leveling, clear the level matrix
  #if ENABLED(AUTO_BED_LEVELING_FEATURE)
    plan_bed_level_matrix.set_to_identity();
    #if ENABLED(DELTA)
      reset_bed_level();
    #endif
  #endif

  // For manual bed leveling deactivate the matrix temporarily
  #if ENABLED(MESH_BED_LEVELING)
    uint8_t mbl_was_active = mbl.active;
    mbl.active = 0;
  #endif

  setup_for_endstop_move();

  set_destination_to_current(); // Directly after a reset this is all 0. Later we get a hint if we have to raise z or not.

  feedrate = 0.0;

  #if ENABLED(DELTA)
    // A delta can only safely home all axis at the same time
    // all axis have to home at the same time

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

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

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

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

    sync_plan_position_delta();

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        print_xyz("(DELTA) > current_position", current_position);
      }
    #endif

  #else // NOT DELTA

    bool  homeX = code_seen(axis_codes[X_AXIS]),
          homeY = code_seen(axis_codes[Y_AXIS]),
          homeZ = code_seen(axis_codes[Z_AXIS]);

    home_all_axis = (!homeX && !homeY && !homeZ) || (homeX && homeY && homeZ);

    #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 (marlin_debug_flags & DEBUG_LEVELING) {
            print_xyz("> HOMEAXIS(Z) > current_position", current_position);
          }
        #endif
      }

    #elif defined(MIN_Z_HEIGHT_FOR_HOMING) && MIN_Z_HEIGHT_FOR_HOMING > 0

      // Raise Z before homing any other axes and z is not already high enough (never lower z)
      if (current_position[Z_AXIS] <= MIN_Z_HEIGHT_FOR_HOMING) {
        destination[Z_AXIS] = MIN_Z_HEIGHT_FOR_HOMING;
        feedrate = max_feedrate[Z_AXIS] * 60;  // feedrate (mm/m) = max_feedrate (mm/s)
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOPAIR("Raise Z (before homing) to ", (float)(MIN_Z_HEIGHT_FOR_HOMING));
            SERIAL_EOL;
            print_xyz("> (home_all_axis || homeZ) > current_position", current_position);
            print_xyz("> (home_all_axis || homeZ) > destination", destination);
          }
        #endif
        line_to_destination();
        st_synchronize();

        // Update the current Z position even if it currently not real from Z-home
        // otherwise each call to line_to_destination() will want to move Z-axis
        // by MIN_Z_HEIGHT_FOR_HOMING.
        current_position[Z_AXIS] = destination[Z_AXIS];
      }
    #endif

    #if ENABLED(QUICK_HOME)

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

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

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

        sync_plan_position();

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

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

        set_axis_is_at_home(X_AXIS);
        set_axis_is_at_home(Y_AXIS);
        sync_plan_position();

        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            print_xyz("> QUICK_HOME > current_position 1", current_position);
          }
        #endif

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

        current_position[X_AXIS] = destination[X_AXIS];
        current_position[Y_AXIS] = destination[Y_AXIS];
        #if DISABLED(SCARA)
          current_position[Z_AXIS] = destination[Z_AXIS];
        #endif

        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            print_xyz("> QUICK_HOME > current_position 2", current_position);
          }
        #endif
      }

    #endif // QUICK_HOME

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

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

          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (marlin_debug_flags & DEBUG_LEVELING) {
              SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
            }
          #endif

          if (home_all_axis) {

            // At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
            // No need to move Z any more as this height should already be safe
            // enough to reach Z_SAFE_HOMING XY positions.
            // Just make sure the planner is in sync.
            sync_plan_position();

            //
            // Set the Z probe (or just the nozzle) destination to the safe homing point
            //
            destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
            destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
            destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height
            feedrate = XY_TRAVEL_SPEED;

            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (marlin_debug_flags & DEBUG_LEVELING) {
                print_xyz("> Z_SAFE_HOMING > home_all_axis > current_position", current_position);
                print_xyz("> Z_SAFE_HOMING > home_all_axis > destination", destination);
              }
            #endif

            // Move in the XY plane
            line_to_destination();
            st_synchronize();

            // Update the current positions for XY, Z is still at least at
            // MIN_Z_HEIGHT_FOR_HOMING height, no changes there.
            current_position[X_AXIS] = destination[X_AXIS];
            current_position[Y_AXIS] = destination[Y_AXIS];

            // Home the Z axis
            HOMEAXIS(Z);
          }

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

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

              // Make sure the Z probe is within the physical limits
              // NOTE: This doesn't necessarily ensure the Z probe is also within the bed!
              float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
              if (   cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
                  && cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
                  && cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
                  && cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {

                // Home the Z axis
                HOMEAXIS(Z);
              }
              else {
                LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
                SERIAL_ECHO_START;
                SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
              }
            }
            else {
              unknown_position_error();
            }

          } // !home_all_axes && homeZ

          #if ENABLED(DEBUG_LEVELING_FEATURE)
            if (marlin_debug_flags & DEBUG_LEVELING) {
              SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
            }
          #endif

        #else // !Z_SAFE_HOMING

          HOMEAXIS(Z);

        #endif // !Z_SAFE_HOMING

        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            print_xyz("> (home_all_axis || homeZ) > final", current_position);
          }
        #endif

      } // home_all_axis || homeZ

    #endif // Z_HOME_DIR < 0

    sync_plan_position();

  #endif // else DELTA

  #if ENABLED(SCARA)
    sync_plan_position_delta();
  #endif

  #if ENABLED(ENDSTOPS_ONLY_FOR_HOMING)
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOLNPGM("ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false)");
      }
    #endif
    enable_endstops(false);
  #endif

  // For manual leveling move back to 0,0
  #if ENABLED(MESH_BED_LEVELING)
    if (mbl_was_active) {
      current_position[X_AXIS] = mbl.get_x(0);
      current_position[Y_AXIS] = mbl.get_y(0);
      set_destination_to_current();
      feedrate = homing_feedrate[X_AXIS];
      line_to_destination();
      st_synchronize();
      current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
      sync_plan_position();
      mbl.active = 1;
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          print_xyz("mbl_was_active > current_position", current_position);
        }
      #endif
    }
  #endif

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

  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (marlin_debug_flags & DEBUG_LEVELING) {
      SERIAL_ECHOLNPGM("<<< gcode_G28");
    }
  #endif

}

#if ENABLED(MESH_BED_LEVELING)

  enum MeshLevelingState { MeshReport, MeshStart, MeshNext, MeshSet };

  /**
   * 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
   *
   * The S0 report the points as below
   *
   *  +----> X-axis
   *  |
   *  |
   *  v Y-axis
   *
   */
  inline void gcode_G29() {

    static int probe_point = -1;
    MeshLevelingState state = code_seen('S') ? (MeshLevelingState)code_value_short() : MeshReport;
    if (state < 0 || state > 3) {
      SERIAL_PROTOCOLLNPGM("S out of range (0-3).");
      return;
    }

    int ix, iy;
    float z;

    switch (state) {
      case MeshReport:
        if (mbl.active) {
          SERIAL_PROTOCOLPGM("Num X,Y: ");
          SERIAL_PROTOCOL(MESH_NUM_X_POINTS);
          SERIAL_PROTOCOLCHAR(',');
          SERIAL_PROTOCOL(MESH_NUM_Y_POINTS);
          SERIAL_PROTOCOLPGM("\nZ search height: ");
          SERIAL_PROTOCOL(MESH_HOME_SEARCH_Z);
          SERIAL_PROTOCOLLNPGM("\nMeasured points:");
          for (int y = 0; y < MESH_NUM_Y_POINTS; y++) {
            for (int x = 0; x < MESH_NUM_X_POINTS; x++) {
              SERIAL_PROTOCOLPGM("  ");
              SERIAL_PROTOCOL_F(mbl.z_values[y][x], 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;
        }
        if (probe_point == 0) {
          // Set Z to a positive value before recording the first Z.
          current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
          sync_plan_position();
        }
        else {
          // For others, save the Z of the previous point, then raise Z again.
          ix = (probe_point - 1) % (MESH_NUM_X_POINTS);
          iy = (probe_point - 1) / (MESH_NUM_X_POINTS);
          if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
          mbl.set_z(ix, iy, current_position[Z_AXIS]);
          current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
          plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 60, active_extruder);
          st_synchronize();
        }
        // Is there another point to sample? Move there.
        if (probe_point < (MESH_NUM_X_POINTS) * (MESH_NUM_Y_POINTS)) {
          ix = probe_point % (MESH_NUM_X_POINTS);
          iy = probe_point / (MESH_NUM_X_POINTS);
          if (iy & 1) ix = (MESH_NUM_X_POINTS - 1) - ix; // zig-zag
          current_position[X_AXIS] = mbl.get_x(ix);
          current_position[Y_AXIS] = mbl.get_y(iy);
          plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[X_AXIS] / 60, active_extruder);
          st_synchronize();
          probe_point++;
        }
        else {
          // After recording the last point, activate the mbl and home
          SERIAL_PROTOCOLLNPGM("Mesh probing done.");
          probe_point = -1;
          mbl.active = 1;
          enqueue_and_echo_commands_P(PSTR("G28"));
        }
        break;

      case MeshSet:
        if (code_seen('X')) {
          ix = code_value_long() - 1;
          if (ix < 0 || ix >= MESH_NUM_X_POINTS) {
            SERIAL_PROTOCOLPGM("X out of range (1-" STRINGIFY(MESH_NUM_X_POINTS) ").\n");
            return;
          }
        }
        else {
          SERIAL_PROTOCOLPGM("X not entered.\n");
          return;
        }
        if (code_seen('Y')) {
          iy = code_value_long() - 1;
          if (iy < 0 || iy >= MESH_NUM_Y_POINTS) {
            SERIAL_PROTOCOLPGM("Y out of range (1-" STRINGIFY(MESH_NUM_Y_POINTS) ").\n");
            return;
          }
        }
        else {
          SERIAL_PROTOCOLPGM("Y not entered.\n");
          return;
        }
        if (code_seen('Z')) {
          z = code_value();
        }
        else {
          SERIAL_PROTOCOLPGM("Z not entered.\n");
          return;
        }
        mbl.z_values[iy][ix] = z;

    } // switch(state)
  }

#elif ENABLED(AUTO_BED_LEVELING_FEATURE)

  void out_of_range_error(const char* p_edge) {
    SERIAL_PROTOCOLPGM("?Probe ");
    serialprintPGM(p_edge);
    SERIAL_PROTOCOLLNPGM(" position out of range.");
  }

  /**
   * G29: Detailed Z probe, probes the bed at 3 or more points.
   *      Will fail if the printer has not been homed with G28.
   *
   * Enhanced G29 Auto Bed Leveling Probe Routine
   *
   * Parameters With AUTO_BED_LEVELING_GRID:
   *
   *  P  Set the size of the grid that will be probed (P x P points).
   *     Not supported by non-linear delta printer bed leveling.
   *     Example: "G29 P4"
   *
   *  S  Set the XY travel speed between probe points (in mm/min)
   *
   *  D  Dry-Run mode. Just evaluate the bed Topology - Don't apply
   *     or clean the rotation Matrix. Useful to check the topology
   *     after a first run of G29.
   *
   *  V  Set the verbose level (0-4). Example: "G29 V3"
   *
   *  T  Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
   *     This is useful for manual bed leveling and finding flaws in the bed (to
   *     assist with part placement).
   *     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)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOLNPGM("gcode_G29 >>>");
      }
    #endif

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

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

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

    #if ENABLED(AUTO_BED_LEVELING_GRID)

      #if DISABLED(DELTA)
        bool do_topography_map = verbose_level > 2 || code_seen('T');
      #endif

      if (verbose_level > 0) {
        SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
        if (dryrun) SERIAL_ECHOLNPGM("Running in DRY-RUN mode");
      }

      int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;

      #if DISABLED(DELTA)
        if (code_seen('P')) auto_bed_leveling_grid_points = code_value_short();
        if (auto_bed_leveling_grid_points < 2) {
          SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
          return;
        }
      #endif

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

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

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

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

    #endif // AUTO_BED_LEVELING_GRID

    #if ENABLED(Z_PROBE_SLED)
      dock_sled(false); // engage (un-dock) the Z probe
    #elif ENABLED(Z_PROBE_ALLEN_KEY) //|| SERVO_LEVELING
      deploy_z_probe();
    #endif

    st_synchronize();

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

      #if ENABLED(DELTA)
        reset_bed_level();
      #else //!DELTA
        //vector_3 corrected_position = plan_get_position_mm();
        //corrected_position.debug("position before G29");
        vector_3 uncorrected_position = plan_get_position();
        //uncorrected_position.debug("position during G29");
        current_position[X_AXIS] = uncorrected_position.x;
        current_position[Y_AXIS] = uncorrected_position.y;
        current_position[Z_AXIS] = uncorrected_position.z;
        sync_plan_position();
      #endif // !DELTA
    }

    setup_for_endstop_move();

    feedrate = homing_feedrate[Z_AXIS];

    #if ENABLED(AUTO_BED_LEVELING_GRID)

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

      #if ENABLED(DELTA)
        delta_grid_spacing[0] = xGridSpacing;
        delta_grid_spacing[1] = yGridSpacing;
        float z_offset = zprobe_zoffset;
        if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
      #else // !DELTA
        // solve the plane equation ax + by + d = z
        // A is the matrix with rows [x y 1] for all the probed points
        // B is the vector of the Z positions
        // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
        // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z

        int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;

        double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
               eqnBVector[abl2],     // "B" vector of Z points
               mean = 0.0;
        int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
      #endif // !DELTA

      int probePointCounter = 0;
      bool zig = (auto_bed_leveling_grid_points & 1) ? true : false; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]

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

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

        zig = !zig;

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

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

          if (probePointCounter) {
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (marlin_debug_flags & DEBUG_LEVELING) {
                SERIAL_ECHOPAIR("z_before = (between) ", (float)(Z_RAISE_BETWEEN_PROBINGS + current_position[Z_AXIS]));
                SERIAL_EOL;
              }
            #endif
          }
          else {
            #if ENABLED(DEBUG_LEVELING_FEATURE)
              if (marlin_debug_flags & DEBUG_LEVELING) {
                SERIAL_ECHOPAIR("z_before = (before) ", (float)Z_RAISE_BEFORE_PROBING);
                SERIAL_EOL;
              }
            #endif
          }

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

          ProbeAction act;
          if (deploy_probe_for_each_reading) // G29 E - Stow between probes
            act = ProbeDeployAndStow;
          else if (yCount == 0 && xCount == xStart)
            act = ProbeDeploy;
          else if (yCount == auto_bed_leveling_grid_points - 1 && xCount == xStop - xInc)
            act = ProbeStow;
          else
            act = ProbeStay;

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

          #if DISABLED(DELTA)
            mean += measured_z;

            eqnBVector[probePointCounter] = measured_z;
            eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
            eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
            eqnAMatrix[probePointCounter + 2 * abl2] = 1;
            indexIntoAB[xCount][yCount] = probePointCounter;
          #else
            bed_level[xCount][yCount] = measured_z + z_offset;
          #endif

          probePointCounter++;

          idle();

        } //xProbe
      } //yProbe

      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          print_xyz("> probing complete > current_position", current_position);
        }
      #endif

      clean_up_after_endstop_move();

      #if ENABLED(DELTA)

        if (!dryrun) extrapolate_unprobed_bed_level();
        print_bed_level();

      #else // !DELTA

        // solve lsq problem
        double 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;
          }
        }

        if (!dryrun) set_bed_level_equation_lsq(plane_equation_coefficients);

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

          SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
          SERIAL_PROTOCOLPGM("   +--- BACK --+\n");
          SERIAL_PROTOCOLPGM("   |           |\n");
          SERIAL_PROTOCOLPGM(" L |    (+)    | R\n");
          SERIAL_PROTOCOLPGM(" E |           | I\n");
          SERIAL_PROTOCOLPGM(" F | (-) N (+) | G\n");
          SERIAL_PROTOCOLPGM(" T |           | H\n");
          SERIAL_PROTOCOLPGM("   |    (-)    | T\n");
          SERIAL_PROTOCOLPGM("   |           |\n");
          SERIAL_PROTOCOLPGM("   O-- FRONT --+\n");
          SERIAL_PROTOCOLPGM(" (0,0)\n");

          float min_diff = 999;

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

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

              apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);

              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_PROTOCOLPGM(" \nCorrected Bed Height vs. Bed Topology: \n");

            for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
              for (int xx = 0; xx < auto_bed_leveling_grid_points; 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(plan_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 //!DELTA

    #else // !AUTO_BED_LEVELING_GRID

      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          SERIAL_ECHOLNPGM("> 3-point Leveling");
        }
      #endif

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

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

    #endif // !AUTO_BED_LEVELING_GRID

    #if ENABLED(DELTA)
      // Allen Key Probe for Delta
      #if ENABLED(Z_PROBE_ALLEN_KEY)
        stow_z_probe();
      #elif Z_RAISE_AFTER_PROBING > 0
        raise_z_after_probing(); // ???
      #endif
    #else // !DELTA
      if (verbose_level > 0)
        plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");

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

        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > z_tmp  = ", z_tmp);
            SERIAL_EOL;
            SERIAL_ECHOPAIR("> BEFORE apply_rotation_xyz > real_z = ", real_z);
            SERIAL_EOL;
          }
        #endif

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

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

        current_position[Z_AXIS] = -zprobe_zoffset + (z_tmp - real_z)
          #if HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY) || ENABLED(Z_PROBE_SLED)
             + Z_RAISE_AFTER_PROBING
          #endif
          ;
        // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
        sync_plan_position();

        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            print_xyz("> corrected Z in G29", current_position);
          }
        #endif
      }

      // Sled assembly for Cartesian bots
      #if ENABLED(Z_PROBE_SLED)
        dock_sled(true); // dock the sled
      #elif Z_RAISE_AFTER_PROBING > 0
        // Raise Z axis for non-delta and non servo based probes
        #if !defined(HAS_SERVO_ENDSTOPS) && DISABLED(Z_PROBE_ALLEN_KEY) && DISABLED(Z_PROBE_SLED)
          raise_z_after_probing();
        #endif
      #endif

    #endif // !DELTA

    #ifdef Z_PROBE_END_SCRIPT
      #if ENABLED(DEBUG_LEVELING_FEATURE)
        if (marlin_debug_flags & DEBUG_LEVELING) {
          SERIAL_ECHO("Z Probe End Script: ");
          SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
        }
      #endif
      enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
      #if ENABLED(HAS_Z_MIN_PROBE)
        z_probe_is_active = false;
      #endif
      st_synchronize();
    #endif

    KEEPALIVE_STATE(IN_HANDLER);

    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOLNPGM("<<< gcode_G29");
      }
    #endif

  }

  #if DISABLED(Z_PROBE_SLED) // could be avoided

    /**
     * G30: Do a single Z probe at the current XY
     */
    inline void gcode_G30() {
      #if HAS_SERVO_ENDSTOPS
        raise_z_for_servo();
      #endif
      deploy_z_probe(); // Engage Z Servo endstop if available. Z_PROBE_SLED is missed her.

      st_synchronize();
      // TODO: clear the leveling matrix or the planner will be set incorrectly
      setup_for_endstop_move(); // to late. Must be done before deploying.

      feedrate = homing_feedrate[Z_AXIS];

      run_z_probe();
      SERIAL_PROTOCOLPGM("Bed X: ");
      SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001);
      SERIAL_PROTOCOLPGM(" Y: ");
      SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001);
      SERIAL_PROTOCOLPGM(" Z: ");
      SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
      SERIAL_EOL;

      clean_up_after_endstop_move(); // to early. must be done after the stowing.

      #if HAS_SERVO_ENDSTOPS
        raise_z_for_servo();
      #endif
      stow_z_probe(false); // Retract Z Servo endstop if available. Z_PROBE_SLED is missed her.
    }

  #endif //!Z_PROBE_SLED

#endif //AUTO_BED_LEVELING_FEATURE

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

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

#if ENABLED(ULTIPANEL)

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

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

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

    lcd_ignore_click();
    st_synchronize();
    refresh_cmd_timeout();
    if (codenum > 0) {
      codenum += previous_cmd_ms;  // wait until this time for a click
      KEEPALIVE_STATE(PAUSED_FOR_USER);
      while (millis() < codenum && !lcd_clicked()) idle();
      KEEPALIVE_STATE(IN_HANDLER);
      lcd_ignore_click(false);
    }
    else {
      if (!lcd_detected()) return;
      KEEPALIVE_STATE(PAUSED_FOR_USER);
      while (!lcd_clicked()) idle();
      KEEPALIVE_STATE(IN_HANDLER);
    }
    if (IS_SD_PRINTING)
      LCD_MESSAGEPGM(MSG_RESUMING);
    else
      LCD_MESSAGEPGM(WELCOME_MSG);
  }

#endif // 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_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_short());
  }

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

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

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

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

#endif //SDSUPPORT

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

#if ENABLED(SDSUPPORT)

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

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

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

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

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

      card.startFileprint();

      // Procedure calls count as normal print time.
      if (!call_procedure) print_job_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

/**
 * 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')) {
    int pin_status = code_value_short();
    if (pin_status < 0 || pin_status > 255) return;

    int pin_number = code_seen('P') ? code_value_short() : LED_PIN;
    if (pin_number < 0) return;

    for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
      if (pin_number == sensitive_pins[i]) 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

  } // code_seen('S')
}

#if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)

  // This is redundant since the SanityCheck.h already checks for a valid Z_MIN_PROBE_PIN, but here for clarity.
  #if ENABLED(Z_MIN_PROBE_ENDSTOP)
    #if !HAS_Z_PROBE
      #error You must define Z_MIN_PROBE_PIN to enable Z probe repeatability calculation.
    #endif
  #elif !HAS_Z_MIN
    #error You must define Z_MIN_PIN to enable Z probe repeatability calculation.
  #endif

  /**
   * 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_known_position[X_AXIS] || !axis_known_position[Y_AXIS] || !axis_known_position[Z_AXIS]) {
      unknown_position_error();
      return;
    }

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

    if (code_seen('V')) {
      verbose_level = code_value_short();
      if (verbose_level < 0 || verbose_level > 4) {
        SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
        return;
      }
    }

    if (verbose_level > 0)
      SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");

    if (code_seen('P')) {
      n_samples = code_value_short();
      if (n_samples < 4 || n_samples > 50) {
        SERIAL_PROTOCOLPGM("?Sample size not plausible (4-50).\n");
        return;
      }
    }

    float  X_current = current_position[X_AXIS],
           Y_current = current_position[Y_AXIS],
           Z_current = current_position[Z_AXIS],
           X_probe_location = X_current + X_PROBE_OFFSET_FROM_EXTRUDER,
           Y_probe_location = Y_current + Y_PROBE_OFFSET_FROM_EXTRUDER,
           Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
    bool deploy_probe_for_each_reading = code_seen('E');

    if (code_seen('X')) {
      X_probe_location = code_value();
      #if DISABLED(DELTA)
        if (X_probe_location < MIN_PROBE_X || X_probe_location > MAX_PROBE_X) {
          out_of_range_error(PSTR("X"));
          return;
        }
      #endif
    }

    if (code_seen('Y')) {
      Y_probe_location = code_value();
      #if DISABLED(DELTA)
        if (Y_probe_location < MIN_PROBE_Y || Y_probe_location > MAX_PROBE_Y) {
          out_of_range_error(PSTR("Y"));
          return;
        }
      #endif
    }

    #if ENABLED(DELTA)
      if (sqrt(X_probe_location * X_probe_location + Y_probe_location * Y_probe_location) > DELTA_PROBEABLE_RADIUS) {
        SERIAL_PROTOCOLPGM("? (X,Y) location outside of probeable radius.\n");
        return;
      }
    #endif

    bool seen_L = code_seen('L');

    if (seen_L) {
      n_legs = code_value_short();
      if (n_legs < 0 || n_legs > 15) {
        SERIAL_PROTOCOLPGM("?Number of legs in movement not plausible (0-15).\n");
        return;
      }
      if (n_legs == 1) n_legs = 2;
    }

    if (code_seen('S')) {
      schizoid_flag++;
      if (!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_PROTOCOLPGM("Positioning the probe...\n");

    #if ENABLED(DELTA)
      reset_bed_level();    // we don't do bed level correction in M48 because we want the raw data when we probe
    #else
      plan_bed_level_matrix.set_to_identity();  // we don't do bed level correction in M48 because we wantthe raw data when we probe
    #endif

    if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0)
      do_blocking_move_to_z(Z_start_location);

    do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);

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

    probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
      deploy_probe_for_each_reading ? ProbeDeployAndStow : ProbeDeploy,
      verbose_level);

    raise_z_after_probing();

    for (uint8_t n = 0; n < n_samples; n++) {
      randomSeed(millis());
      delay(500);
      if (n_legs) {
        float radius, angle = random(0.0, 360.0);
        int dir = (random(0, 10) > 5.0) ? -1 : 1;  // clockwise or counter clockwise

        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);
          delay(100);
          if (dir > 0)
            SERIAL_ECHO(" Direction: Counter Clockwise \n");
          else
            SERIAL_ECHO(" Direction: Clockwise \n");
          delay(100);
        }

        for (uint8_t l = 0; l < n_legs - 1; l++) {
          double delta_angle;
          if (schizoid_flag)
            delta_angle = dir * 2.0 * 72.0;   // 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.
          else
            delta_angle = dir * (float) random(25, 45);   // If we do this line, we are just trying to move further
          // around the circle.
          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 (sqrt(X_current * X_current + Y_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_ECHOPAIR(", ", Y_current);
                SERIAL_EOL;
                delay(50);
              }
            }
          #endif
          if (verbose_level > 3) {
            SERIAL_PROTOCOL("Going to:");
            SERIAL_ECHOPAIR("x: ", X_current);
            SERIAL_ECHOPAIR("y: ", Y_current);
            SERIAL_ECHOPAIR("  z: ", current_position[Z_AXIS]);
            SERIAL_EOL;
            delay(55);
          }
          do_blocking_move_to_xy(X_current, Y_current);
        } // n_legs loop
      } // n_legs

      // We don't really have to do this move, but if we don't we can see a funny shift in the Z Height
      // Because the user might not have the Z_RAISE_BEFORE_PROBING height identical to the
      // Z_RAISE_BETWEEN_PROBING height.  This gets us back to the probe location at the same height that
      // we have been running around the circle at.
      do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);
      if (deploy_probe_for_each_reading)
        sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level);
      else {
        if (n == n_samples - 1)
          sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStow, verbose_level); else
          sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
      }

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

      //
      // Now, use that mean to calculate the standard deviation for the
      // data points we have so far
      //
      sum = 0.0;
      for (uint8_t j = 0; j <= n; j++) {
        float ss = sample_set[j] - mean;
        sum += ss * ss;
      }
      sigma = sqrt(sum / (n + 1));
      if (verbose_level > 1) {
        SERIAL_PROTOCOL(n + 1);
        SERIAL_PROTOCOLPGM(" of ");
        SERIAL_PROTOCOL((int)n_samples);
        SERIAL_PROTOCOLPGM("   z: ");
        SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
        delay(50);
        if (verbose_level > 2) {
          SERIAL_PROTOCOLPGM(" mean: ");
          SERIAL_PROTOCOL_F(mean, 6);
          SERIAL_PROTOCOLPGM("   sigma: ");
          SERIAL_PROTOCOL_F(sigma, 6);
        }
      }
      if (verbose_level > 0) SERIAL_EOL;
      delay(50);
      do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
    }  // End of probe loop code

    // raise_z_after_probing();

    if (verbose_level > 0) {
      SERIAL_PROTOCOLPGM("Mean: ");
      SERIAL_PROTOCOL_F(mean, 6);
      SERIAL_EOL;
      delay(25);
    }

    SERIAL_PROTOCOLPGM("Standard Deviation: ");
    SERIAL_PROTOCOL_F(sigma, 6);
    SERIAL_EOL; SERIAL_EOL;
    delay(25);

    clean_up_after_endstop_move();
  }

#endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST

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

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

  print_job_stop();
}

#if HAS_TEMP_0 || HAS_TEMP_BED || ENABLED(HEATER_0_USES_MAX6675)

  void print_heaterstates() {
    #if HAS_TEMP_0 || ENABLED(HEATER_0_USES_MAX6675)
      SERIAL_PROTOCOLPGM(" T:");
      SERIAL_PROTOCOL_F(degHotend(target_extruder), 1);
      SERIAL_PROTOCOLPGM(" /");
      SERIAL_PROTOCOL_F(degTargetHotend(target_extruder), 1);
    #endif
    #if HAS_TEMP_BED
      SERIAL_PROTOCOLPGM(" B:");
      SERIAL_PROTOCOL_F(degBed(), 1);
      SERIAL_PROTOCOLPGM(" /");
      SERIAL_PROTOCOL_F(degTargetBed(), 1);
    #endif
    #if EXTRUDERS > 1
      for (int8_t e = 0; e < EXTRUDERS; ++e) {
        SERIAL_PROTOCOLPGM(" T");
        SERIAL_PROTOCOL(e);
        SERIAL_PROTOCOLCHAR(':');
        SERIAL_PROTOCOL_F(degHotend(e), 1);
        SERIAL_PROTOCOLPGM(" /");
        SERIAL_PROTOCOL_F(degTargetHotend(e), 1);
      }
    #endif
    #if HAS_TEMP_BED
      SERIAL_PROTOCOLPGM(" B@:");
      #ifdef BED_WATTS
        SERIAL_PROTOCOL(((BED_WATTS) * getHeaterPower(-1)) / 127);
        SERIAL_PROTOCOLCHAR('W');
      #else
        SERIAL_PROTOCOL(getHeaterPower(-1));
      #endif
    #endif
    SERIAL_PROTOCOLPGM(" @:");
    #ifdef EXTRUDER_WATTS
      SERIAL_PROTOCOL(((EXTRUDER_WATTS) * getHeaterPower(target_extruder)) / 127);
      SERIAL_PROTOCOLCHAR('W');
    #else
      SERIAL_PROTOCOL(getHeaterPower(target_extruder));
    #endif
    #if EXTRUDERS > 1
      for (int8_t e = 0; e < EXTRUDERS; ++e) {
        SERIAL_PROTOCOLPGM(" @");
        SERIAL_PROTOCOL(e);
        SERIAL_PROTOCOLCHAR(':');
        #ifdef EXTRUDER_WATTS
          SERIAL_PROTOCOL(((EXTRUDER_WATTS) * getHeaterPower(e)) / 127);
          SERIAL_PROTOCOLCHAR('W');
        #else
          SERIAL_PROTOCOL(getHeaterPower(e));
        #endif
      }
    #endif
    #if ENABLED(SHOW_TEMP_ADC_VALUES)
      #if HAS_TEMP_BED
        SERIAL_PROTOCOLPGM("    ADC B:");
        SERIAL_PROTOCOL_F(degBed(), 1);
        SERIAL_PROTOCOLPGM("C->");
        SERIAL_PROTOCOL_F(rawBedTemp() / OVERSAMPLENR, 0);
      #endif
      for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
        SERIAL_PROTOCOLPGM("  T");
        SERIAL_PROTOCOL(cur_extruder);
        SERIAL_PROTOCOLCHAR(':');
        SERIAL_PROTOCOL_F(degHotend(cur_extruder), 1);
        SERIAL_PROTOCOLPGM("C->");
        SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder) / OVERSAMPLENR, 0);
      }
    #endif
  }
#endif

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

  #if HAS_TEMP_0 || HAS_TEMP_BED || ENABLED(HEATER_0_USES_MAX6675)
    SERIAL_PROTOCOLPGM(MSG_OK);
    print_heaterstates();
  #else // !HAS_TEMP_0 && !HAS_TEMP_BED
    SERIAL_ERROR_START;
    SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
  #endif

  SERIAL_EOL;
}

#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_short() : 255,
             p = code_seen('P') ? code_value_short() : 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_short() : 0;
    if (p < FAN_COUNT) fanSpeeds[p] = 0;
  }

#endif // FAN_COUNT > 0

/**
 * 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() {
  bool no_wait_for_cooling = true;

  // Start hook must happen before setTargetHotend()
  print_job_start();

  if (setTargetedHotend(109)) return;
  if (marlin_debug_flags & DEBUG_DRYRUN) return;

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

    if (temp > degHotend(target_extruder)) LCD_MESSAGEPGM(MSG_HEATING);
  }

  if (print_job_stop()) LCD_MESSAGEPGM(WELCOME_MSG);

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

  // Exit if the temperature is above target and not waiting for cooling
  if (no_wait_for_cooling && !isHeatingHotend(target_extruder)) return;

  // Prevents a wait-forever situation if R is misused i.e. M109 R0
  // Try to calculate a ballpark safe margin by halving EXTRUDE_MINTEMP
  if (degTargetHotend(target_extruder) < (EXTRUDE_MINTEMP/2)) return;

  #ifdef TEMP_RESIDENCY_TIME
    long residency_start_ms = -1;
    // Loop until the temperature has stabilized
    #define TEMP_CONDITIONS (residency_start_ms < 0 || now < residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL)
  #else
    // Loop until the temperature is very close target
    #define TEMP_CONDITIONS (fabs(degHotend(target_extruder) - degTargetHotend(target_extruder)) < 0.75f)
  #endif //TEMP_RESIDENCY_TIME

  cancel_heatup = false;
  millis_t now = millis(), next_temp_ms = now + 1000UL;
  while (!cancel_heatup && TEMP_CONDITIONS) {
    now = millis();
    if (now > next_temp_ms) { //Print temp & remaining time every 1s while waiting
      next_temp_ms = now + 1000UL;
      #if HAS_TEMP_0 || HAS_TEMP_BED || ENABLED(HEATER_0_USES_MAX6675)
        print_heaterstates();
      #endif
      #ifdef TEMP_RESIDENCY_TIME
        SERIAL_PROTOCOLPGM(" W:");
        if (residency_start_ms >= 0) {
          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

    #ifdef TEMP_RESIDENCY_TIME
      // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
      // Restart the timer whenever the temperature falls outside the hysteresis.
      if (labs(degHotend(target_extruder) - degTargetHotend(target_extruder)) > ((residency_start_ms < 0) ? TEMP_WINDOW : TEMP_HYSTERESIS))
        residency_start_ms = millis();
    #endif //TEMP_RESIDENCY_TIME

  } // while(!cancel_heatup && TEMP_CONDITIONS)

  LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
}

#if HAS_TEMP_BED

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

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

    // Exit if the temperature is above target and not waiting for cooling
    if (no_wait_for_cooling && !isHeatingBed()) return;

    cancel_heatup = false;
    millis_t now = millis(), next_temp_ms = now + 1000UL;
    while (!cancel_heatup && degTargetBed() != degBed()) {
      millis_t now = millis();
      if (now > next_temp_ms) { //Print Temp Reading every 1 second while heating up.
        next_temp_ms = now + 1000UL;
        print_heaterstates();
        SERIAL_EOL;
      }
      idle();
      refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
    }
    LCD_MESSAGEPGM(MSG_BED_DONE);
  }

#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_short() : DEBUG_INFO | DEBUG_COMMUNICATION;

  if (marlin_debug_flags & DEBUG_ECHO) {
    SERIAL_ECHO_START;
    SERIAL_ECHOLNPGM(MSG_DEBUG_ECHO);
  }
  // FOR MOMENT NOT ACTIVE
  //if (marlin_debug_flags & DEBUG_INFO) SERIAL_ECHOLNPGM(MSG_DEBUG_INFO);
  //if (marlin_debug_flags & DEBUG_ERRORS) SERIAL_ECHOLNPGM(MSG_DEBUG_ERRORS);
  if (marlin_debug_flags & DEBUG_DRYRUN) {
    SERIAL_ECHO_START;
    SERIAL_ECHOLNPGM(MSG_DEBUG_DRYRUN);
    disable_all_heaters();
  }

  #if ENABLED(DEBUG_LEVELING_FEATURE)
    if (marlin_debug_flags & DEBUG_LEVELING) {
      SERIAL_ECHO_START;
      SERIAL_ECHOLNPGM(MSG_DEBUG_LEVELING);
    }
  #endif
}

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

#if ENABLED(BARICUDA)

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

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

#endif //BARICUDA

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

#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() {
    int8_t material = code_seen('S') ? code_value_short() : 0;
    if (material < 0 || material > 1) {
      SERIAL_ERROR_START;
      SERIAL_ERRORLNPGM(MSG_ERR_MATERIAL_INDEX);
    }
    else {
      int v;
      switch (material) {
        case 0:
          if (code_seen('H')) {
            v = code_value_short();
            plaPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
          }
          if (code_seen('F')) {
            v = code_value_short();
            plaPreheatFanSpeed = constrain(v, 0, 255);
          }
          #if TEMP_SENSOR_BED != 0
            if (code_seen('B')) {
              v = code_value_short();
              plaPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
            }
          #endif
          break;
        case 1:
          if (code_seen('H')) {
            v = code_value_short();
            absPreheatHotendTemp = constrain(v, EXTRUDE_MINTEMP, HEATER_0_MAXTEMP - 15);
          }
          if (code_seen('F')) {
            v = code_value_short();
            absPreheatFanSpeed = constrain(v, 0, 255);
          }
          #if TEMP_SENSOR_BED != 0
            if (code_seen('B')) {
              v = code_value_short();
              absPreheatHPBTemp = constrain(v, BED_MINTEMP, BED_MAXTEMP - 15);
            }
          #endif
          break;
      }
    }
  }

#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() {
  disable_all_heaters();
  finishAndDisableSteppers();
  #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
    st_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() * 1000;
  }
  else {
    bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])) || (code_seen(axis_codes[E_AXIS])));
    if (all_axis) {
      finishAndDisableSteppers();
    }
    else {
      st_synchronize();
      if (code_seen('X')) disable_x();
      if (code_seen('Y')) disable_y();
      if (code_seen('Z')) disable_z();
      #if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
        if (code_seen('E')) {
          disable_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() * 1000;
}

/**
 * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E.
 *      (Follows the same syntax as G92)
 */
inline void gcode_M92() {
  for (int8_t i = 0; i < NUM_AXIS; i++) {
    if (code_seen(axis_codes[i])) {
      if (i == E_AXIS) {
        float value = code_value();
        if (value < 20.0) {
          float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
          max_e_jerk *= factor;
          max_feedrate[i] *= factor;
          axis_steps_per_sqr_second[i] *= factor;
        }
        axis_steps_per_unit[i] = value;
      }
      else {
        axis_steps_per_unit[i] = code_value();
      }
    }
  }
}

/**
 * M114: Output current position to serial port
 */
inline void gcode_M114() {
  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]);

  CRITICAL_SECTION_START;
  extern volatile long count_position[NUM_AXIS];
  long xpos = count_position[X_AXIS],
       ypos = count_position[Y_AXIS],
       zpos = count_position[Z_AXIS];
  CRITICAL_SECTION_END;

  #if ENABLED(COREXY) || ENABLED(COREXZ)
    SERIAL_PROTOCOLPGM(MSG_COUNT_A);
  #else
    SERIAL_PROTOCOLPGM(MSG_COUNT_X);
  #endif
  SERIAL_PROTOCOL(xpos);

  #if ENABLED(COREXY)
    SERIAL_PROTOCOLPGM(" B:");
  #else
    SERIAL_PROTOCOLPGM(" Y:");
  #endif
  SERIAL_PROTOCOL(ypos);

  #if ENABLED(COREXZ)
    SERIAL_PROTOCOLPGM(" C:");
  #else
    SERIAL_PROTOCOLPGM(" Z:");
  #endif
  SERIAL_PROTOCOL(zpos);

  SERIAL_EOL;

  #if ENABLED(SCARA)
    SERIAL_PROTOCOLPGM("SCARA Theta:");
    SERIAL_PROTOCOL(delta[X_AXIS]);
    SERIAL_PROTOCOLPGM("   Psi+Theta:");
    SERIAL_PROTOCOL(delta[Y_AXIS]);
    SERIAL_EOL;

    SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
    SERIAL_PROTOCOL(delta[X_AXIS] + home_offset[X_AXIS]);
    SERIAL_PROTOCOLPGM("   Psi+Theta (90):");
    SERIAL_PROTOCOL(delta[Y_AXIS] - delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
    SERIAL_EOL;

    SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
    SERIAL_PROTOCOL(delta[X_AXIS] / 90 * axis_steps_per_unit[X_AXIS]);
    SERIAL_PROTOCOLPGM("   Psi+Theta:");
    SERIAL_PROTOCOL((delta[Y_AXIS] - delta[X_AXIS]) / 90 * axis_steps_per_unit[Y_AXIS]);
    SERIAL_EOL; SERIAL_EOL;
  #endif
}

/**
 * M115: Capabilities string
 */
inline void gcode_M115() {
  SERIAL_PROTOCOLPGM(MSG_M115_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() {
  SERIAL_PROTOCOLLN(MSG_M119_REPORT);
  #if HAS_X_MIN
    SERIAL_PROTOCOLPGM(MSG_X_MIN);
    SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_X_MAX
    SERIAL_PROTOCOLPGM(MSG_X_MAX);
    SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Y_MIN
    SERIAL_PROTOCOLPGM(MSG_Y_MIN);
    SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Y_MAX
    SERIAL_PROTOCOLPGM(MSG_Y_MAX);
    SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z_MIN
    SERIAL_PROTOCOLPGM(MSG_Z_MIN);
    SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z_MAX
    SERIAL_PROTOCOLPGM(MSG_Z_MAX);
    SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z2_MAX
    SERIAL_PROTOCOLPGM(MSG_Z2_MAX);
    SERIAL_PROTOCOLLN(((READ(Z2_MAX_PIN)^Z2_MAX_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
  #if HAS_Z_PROBE
    SERIAL_PROTOCOLPGM(MSG_Z_PROBE);
    SERIAL_PROTOCOLLN(((READ(Z_MIN_PROBE_PIN)^Z_MIN_PROBE_ENDSTOP_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
  #endif
}

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

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

#if ENABLED(BLINKM)

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

#endif // BLINKM

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

  if (setTargetedHotend(200)) return;

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

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

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


/**
 * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
 */
inline void gcode_M203() {
  for (int8_t i = 0; i < NUM_AXIS; i++) {
    if (code_seen(axis_codes[i])) {
      max_feedrate[i] = code_value();
    }
  }
}

/**
 * M204: Set Accelerations in mm/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.
    travel_acceleration = acceleration = code_value();
    SERIAL_ECHOPAIR("Setting Print and Travel Acceleration: ", acceleration);
    SERIAL_EOL;
  }
  if (code_seen('P')) {
    acceleration = code_value();
    SERIAL_ECHOPAIR("Setting Print Acceleration: ", acceleration);
    SERIAL_EOL;
  }
  if (code_seen('R')) {
    retract_acceleration = code_value();
    SERIAL_ECHOPAIR("Setting Retract Acceleration: ", retract_acceleration);
    SERIAL_EOL;
  }
  if (code_seen('T')) {
    travel_acceleration = code_value();
    SERIAL_ECHOPAIR("Setting Travel Acceleration: ", travel_acceleration);
    SERIAL_EOL;
  }
}

/**
 * M205: Set Advanced Settings
 *
 *    S = Min Feed Rate (mm/s)
 *    T = Min Travel Feed Rate (mm/s)
 *    B = Min Segment Time (µs)
 *    X = Max XY Jerk (mm/s/s)
 *    Z = Max Z Jerk (mm/s/s)
 *    E = Max E Jerk (mm/s/s)
 */
inline void gcode_M205() {
  if (code_seen('S')) minimumfeedrate = code_value();
  if (code_seen('T')) mintravelfeedrate = code_value();
  if (code_seen('B')) minsegmenttime = code_value();
  if (code_seen('X')) max_xy_jerk = code_value();
  if (code_seen('Z')) max_z_jerk = code_value();
  if (code_seen('E')) max_e_jerk = code_value();
}

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

#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();
    if (code_seen('R')) delta_radius = code_value();
    if (code_seen('S')) delta_segments_per_second = code_value();
    if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value();
    if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value();
    if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value();
    recalc_delta_settings(delta_radius, delta_diagonal_rod);
  }
  /**
   * M666: Set delta endstop adjustment
   */
  inline void gcode_M666() {
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_LEVELING) {
        SERIAL_ECHOLNPGM(">>> gcode_M666");
      }
    #endif
    for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
      if (code_seen(axis_codes[i])) {
        endstop_adj[i] = code_value();
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOPGM("endstop_adj[");
            SERIAL_ECHO(axis_codes[i]);
            SERIAL_ECHOPAIR("] = ", endstop_adj[i]);
            SERIAL_EOL;
          }
        #endif
      }
    }
    #if ENABLED(DEBUG_LEVELING_FEATURE)
      if (marlin_debug_flags & DEBUG_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();
    SERIAL_ECHOPAIR("Z Endstop Adjustment set to (mm):", z_endstop_adj);
    SERIAL_EOL;
  }

#endif // !DELTA && Z_DUAL_ENDSTOPS

#if ENABLED(FWRETRACT)

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

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

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

#endif // FWRETRACT

#if EXTRUDERS > 1

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

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

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

    SERIAL_ECHO_START;
    SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
    for (int e = 0; e < EXTRUDERS; e++) {
      SERIAL_CHAR(' ');
      SERIAL_ECHO(extruder_offset[X_AXIS][e]);
      SERIAL_CHAR(',');
      SERIAL_ECHO(extruder_offset[Y_AXIS][e]);
      #if ENABLED(DUAL_X_CARRIAGE)
        SERIAL_CHAR(',');
        SERIAL_ECHO(extruder_offset[Z_AXIS][e]);
      #endif
    }
    SERIAL_EOL;
  }

#endif // EXTRUDERS > 1

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

/**
 * M221: Set extrusion percentage (M221 T0 S95)
 */
inline void gcode_M221() {
  if (code_seen('S')) {
    int sval = code_value();
    if (setTargetedHotend(221)) return;
    extruder_multiplier[target_extruder] = sval;
  }
}

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

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

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

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

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

        st_synchronize();

        pinMode(pin_number, INPUT);

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

          case 0:
            target = LOW;
            break;

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

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

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

#if HAS_SERVOS

  /**
   * M280: Get or set servo position. P<index> S<angle>
   */
  inline void gcode_M280() {
    int servo_index = code_seen('P') ? code_value_short() : -1;
    int servo_position = 0;
    if (code_seen('S')) {
      servo_position = code_value_short();
      if (servo_index >= 0 && servo_index < NUM_SERVOS)
        servo[servo_index].move(servo_position);
      else {
        SERIAL_ERROR_START;
        SERIAL_ERROR("Servo ");
        SERIAL_ERROR(servo_index);
        SERIAL_ERRORLN(" out of range");
      }
    }
    else if (servo_index >= 0) {
      SERIAL_ECHO_START;
      SERIAL_ECHO(" Servo ");
      SERIAL_ECHO(servo_index);
      SERIAL_ECHO(": ");
      SERIAL_ECHOLN(servo[servo_index].read());
    }
  }

#endif // HAS_SERVOS

#if HAS_BUZZER

  /**
   * M300: Play beep sound S<frequency Hz> P<duration ms>
   */
  inline void gcode_M300() {
    uint16_t beepS = code_seen('S') ? code_value_short() : 110;
    uint32_t beepP = code_seen('P') ? code_value_long() : 1000;
    if (beepP > 5000) beepP = 5000; // limit to 5 seconds
    buzz(beepP, beepS);
  }

#endif // HAS_BUZZER

#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_ADD_EXTRUSION_RATE:
   *
   *   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() : 0; // extruder being updated

    if (e < EXTRUDERS) { // catch bad input value
      if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
      if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
      if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
      #if ENABLED(PID_ADD_EXTRUSION_RATE)
        if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
        if (code_seen('L')) lpq_len = code_value();
        NOMORE(lpq_len, LPQ_MAX_LEN);
      #endif

      updatePID();
      SERIAL_ECHO_START;
      #if ENABLED(PID_PARAMS_PER_EXTRUDER)
        SERIAL_ECHO(" e:"); // specify extruder in serial output
        SERIAL_ECHO(e);
      #endif // PID_PARAMS_PER_EXTRUDER
      SERIAL_ECHO(" p:");
      SERIAL_ECHO(PID_PARAM(Kp, e));
      SERIAL_ECHO(" i:");
      SERIAL_ECHO(unscalePID_i(PID_PARAM(Ki, e)));
      SERIAL_ECHO(" d:");
      SERIAL_ECHO(unscalePID_d(PID_PARAM(Kd, e)));
      #if ENABLED(PID_ADD_EXTRUSION_RATE)
        SERIAL_ECHO(" c:");
        //Kc does not have scaling applied above, or in resetting defaults
        SERIAL_ECHO(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')) bedKp = code_value();
    if (code_seen('I')) bedKi = scalePID_i(code_value());
    if (code_seen('D')) bedKd = scalePID_d(code_value());

    updatePID();
    SERIAL_ECHO_START;
    SERIAL_ECHO(" p:");
    SERIAL_ECHO(bedKp);
    SERIAL_ECHO(" i:");
    SERIAL_ECHO(unscalePID_i(bedKi));
    SERIAL_ECHO(" d:");
    SERIAL_ECHOLN(unscalePID_d(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 ENABLED(HAS_LCD_CONTRAST)

  /**
   * M250: Read and optionally set the LCD contrast
   */
  inline void gcode_M250() {
    if (code_seen('C')) lcd_setcontrast(code_value_short() & 0x3F);
    SERIAL_PROTOCOLPGM("lcd contrast value: ");
    SERIAL_PROTOCOL(lcd_contrast);
    SERIAL_EOL;
  }

#endif // HAS_LCD_CONTRAST

#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)

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

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

#endif // PREVENT_DANGEROUS_EXTRUDE

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

  if (e >=0 && e < EXTRUDERS)
    target_extruder = e;

  KEEPALIVE_STATE(NOT_BUSY);
  PID_autotune(temp, e, c);
}

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

  /**
   * M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
   */
  inline bool gcode_M360() {
    SERIAL_ECHOLN(" 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_ECHOLN(" 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_ECHOLN(" 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_ECHOLN(" 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_ECHOLN(" Cal: Theta-Psi 90 ");
    return SCARA_move_to_cal(45, 135);
  }

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

#endif // SCARA

#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() { st_synchronize(); }

#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(Z_PROBE_SLED) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY))

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

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

#endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED

#if ENABLED(FILAMENT_SENSOR)

  /**
   * M404: Display or set the nominal filament width (3mm, 1.75mm ) W<3.0>
   */
  inline void gcode_M404() {
    #if HAS_FILWIDTH
      if (code_seen('W')) {
        filament_width_nominal = code_value();
      }
      else {
        SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
        SERIAL_PROTOCOLLN(filament_width_nominal);
      }
    #endif
  }

  /**
   * M405: Turn on filament sensor for control
   */
  inline void gcode_M405() {
    if (code_seen('D')) meas_delay_cm = code_value();
    NOMORE(meas_delay_cm, MAX_MEASUREMENT_DELAY);

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

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

      delay_index1 = delay_index2 = 0;
    }

    filament_sensor = true;

    //SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
    //SERIAL_PROTOCOL(filament_width_meas);
    //SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
    //SERIAL_PROTOCOL(extruder_multiplier[active_extruder]);
  }

  /**
   * M406: Turn off filament sensor for control
   */
  inline void gcode_M406() { filament_sensor = false; }

  /**
   * M407: Get measured filament diameter on serial output
   */
  inline void gcode_M407() {
    SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
    SERIAL_PROTOCOLLN(filament_width_meas);
  }

#endif // FILAMENT_SENSOR

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


#if ENABLED(MESH_BED_LEVELING)

  /**
   * M420: Enable/Disable Mesh Bed Leveling
   */
  inline void gcode_M420() { if (code_seen('S') && code_has_value()) mbl.active = !!code_value_short(); }

  /**
   * M421: Set a single Mesh Bed Leveling Z coordinate
   */
  inline void gcode_M421() {
    float x, y, z;
    bool err = false, hasX, hasY, hasZ;
    if ((hasX = code_seen('X'))) x = code_value();
    if ((hasY = code_seen('Y'))) y = code_value();
    if ((hasZ = code_seen('Z'))) z = code_value();

    if (!hasX || !hasY || !hasZ) {
      SERIAL_ERROR_START;
      SERIAL_ERRORLNPGM(MSG_ERR_M421_REQUIRES_XYZ);
      err = true;
    }

    if (x >= MESH_NUM_X_POINTS || y >= MESH_NUM_Y_POINTS) {
      SERIAL_ERROR_START;
      SERIAL_ERRORLNPGM(MSG_ERR_MESH_INDEX_OOB);
      err = true;
    }

    if (!err) mbl.set_z(mbl.select_x_index(x), mbl.select_y_index(y), z);
  }

#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;
  float new_offs[3], new_pos[3];
  memcpy(new_pos, current_position, sizeof(new_pos));
  memcpy(new_offs, home_offset, sizeof(new_offs));
  for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
    if (axis_known_position[i]) {
      float base = (new_pos[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0,
            diff = new_pos[i] - base;
      if (diff > -20 && diff < 20) {
        new_offs[i] -= diff;
        new_pos[i] = base;
      }
      else {
        SERIAL_ERROR_START;
        SERIAL_ERRORLNPGM(MSG_ERR_M428_TOO_FAR);
        LCD_ALERTMESSAGEPGM("Err: Too far!");
        #if HAS_BUZZER
          enqueue_and_echo_commands_P(PSTR("M300 S40 P200"));
        #endif
        err = true;
        break;
      }
    }
  }

  if (!err) {
    memcpy(current_position, new_pos, sizeof(new_pos));
    memcpy(home_offset, new_offs, sizeof(new_offs));
    sync_plan_position();
    LCD_ALERTMESSAGEPGM("Offset applied.");
    #if HAS_BUZZER
      enqueue_and_echo_commands_P(PSTR("M300 S659 P200\nM300 S698 P200"));
    #endif
  }
}

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

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

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

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

#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')) abort_on_endstop_hit = (code_value() > 0);
  }

#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED

#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET

  inline void gcode_SET_Z_PROBE_OFFSET() {

    SERIAL_ECHO_START;
    SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
    SERIAL_CHAR(' ');

    if (code_seen('Z')) {
      float value = code_value();
      if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
        zprobe_zoffset = value;
        SERIAL_ECHO(zprobe_zoffset);
      }
      else {
        SERIAL_ECHOPGM(MSG_Z_MIN);
        SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
        SERIAL_ECHOPGM(MSG_Z_MAX);
        SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
      }
    }
    else {
      SERIAL_ECHOPAIR(": ", zprobe_zoffset);
    }

    SERIAL_EOL;
  }

#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET

#if ENABLED(FILAMENTCHANGEENABLE)

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

    if (degHotend(active_extruder) < extrude_min_temp) {
      SERIAL_ERROR_START;
      SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
      return;
    }

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

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

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

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

    RUNPLAN;

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

    RUNPLAN;

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

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

    RUNPLAN;

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

    RUNPLAN;

    //finish moves
    st_synchronize();
    //disable extruder steppers so filament can be removed
    disable_e0();
    disable_e1();
    disable_e2();
    disable_e3();
    delay(100);
    LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
    millis_t next_tick = 0;
    KEEPALIVE_STATE(PAUSED_FOR_USER);
    while (!lcd_clicked()) {
      #if DISABLED(AUTO_FILAMENT_CHANGE)
        millis_t ms = millis();
        if (ms >= next_tick) {
          lcd_quick_feedback();
          next_tick = ms + 2500; // feedback every 2.5s while waiting
        }
        idle(true);
      #else
        current_position[E_AXIS] += AUTO_FILAMENT_CHANGE_LENGTH;
        destination[E_AXIS] = current_position[E_AXIS];
        line_to_destination(AUTO_FILAMENT_CHANGE_FEEDRATE);
        st_synchronize();
      #endif
    } // while(!lcd_clicked)
    KEEPALIVE_STATE(IN_HANDLER);
    lcd_quick_feedback(); // click sound feedback

    #if ENABLED(AUTO_FILAMENT_CHANGE)
      current_position[E_AXIS] = 0;
      st_synchronize();
    #endif

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

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

    RUNPLAN; //should do nothing

    lcd_reset_alert_level();

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

    #if ENABLED(FILAMENT_RUNOUT_SENSOR)
      filrunoutEnqueued = false;
    #endif

  }

#endif // FILAMENTCHANGEENABLE

#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
   *                         millimeters x-offset and an optional differential hotend temperature of
   *                         mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
   *                         the first with a spacing of 100mm in the x direction and 2 degrees hotter.
   *
   *    Note: the X axis should be homed after changing dual x-carriage mode.
   */
  inline void gcode_M605() {
    st_synchronize();
    if (code_seen('S')) dual_x_carriage_mode = code_value();
    switch (dual_x_carriage_mode) {
      case DXC_DUPLICATION_MODE:
        if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
        if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
        SERIAL_ECHO_START;
        SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
        SERIAL_CHAR(' ');
        SERIAL_ECHO(extruder_offset[X_AXIS][0]);
        SERIAL_CHAR(',');
        SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
        SERIAL_CHAR(' ');
        SERIAL_ECHO(duplicate_extruder_x_offset);
        SERIAL_CHAR(',');
        SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
        break;
      case DXC_FULL_CONTROL_MODE:
      case DXC_AUTO_PARK_MODE:
        break;
      default:
        dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
        break;
    }
    active_extruder_parked = false;
    extruder_duplication_enabled = false;
    delayed_move_time = 0;
  }

#endif // DUAL_X_CARRIAGE

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

#if HAS_DIGIPOTSS

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

#endif // HAS_DIGIPOTSS

#if HAS_MICROSTEPS

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

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

#endif // HAS_MICROSTEPS

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

/**
 * T0-T3: Switch tool, usually switching extruders
 *
 *   F[mm/min] Set the movement feedrate
 */
inline void gcode_T(uint8_t tmp_extruder) {
  if (tmp_extruder >= EXTRUDERS) {
    SERIAL_ECHO_START;
    SERIAL_CHAR('T');
    SERIAL_PROTOCOL_F(tmp_extruder, DEC);
    SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
  }
  else {
    target_extruder = tmp_extruder;

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

    if (code_seen('F')) {

      #if EXTRUDERS > 1
        make_move = true;
      #endif

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

          // apply Y & Z extruder offset (x offset is already used in determining home pos)
          current_position[Y_AXIS] -= extruder_offset[Y_AXIS][active_extruder] - extruder_offset[Y_AXIS][tmp_extruder];
          current_position[Z_AXIS] -= extruder_offset[Z_AXIS][active_extruder] - extruder_offset[Z_AXIS][tmp_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 (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
            current_position[X_AXIS] = inactive_extruder_x_pos;
            inactive_extruder_x_pos = destination[X_AXIS];
          }
          else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
            active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
            if (active_extruder == 0 || active_extruder_parked)
              current_position[X_AXIS] = inactive_extruder_x_pos;
            else
              current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
            inactive_extruder_x_pos = destination[X_AXIS];
            extruder_duplication_enabled = false;
          }
          else {
            // record raised toolhead position for use by unpark
            memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
            raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
            active_extruder_parked = true;
            delayed_move_time = 0;
          }
        #else // !DUAL_X_CARRIAGE
          #if ENABLED(AUTO_BED_LEVELING_FEATURE)
            // Offset extruder, make sure to apply the bed level rotation matrix
            vector_3 tmp_offset_vec = vector_3(extruder_offset[X_AXIS][tmp_extruder],
                                               extruder_offset[Y_AXIS][tmp_extruder],
                                               extruder_offset[Z_AXIS][tmp_extruder]),
                     act_offset_vec = vector_3(extruder_offset[X_AXIS][active_extruder],
                                               extruder_offset[Y_AXIS][active_extruder],
                                               extruder_offset[Z_AXIS][active_extruder]),
                     offset_vec = tmp_offset_vec - act_offset_vec;
            offset_vec.apply_rotation(plan_bed_level_matrix.transpose(plan_bed_level_matrix));
            current_position[X_AXIS] += offset_vec.x;
            current_position[Y_AXIS] += offset_vec.y;
            current_position[Z_AXIS] += offset_vec.z;
          #else // !AUTO_BED_LEVELING_FEATURE
            // Offset extruder (only by XY)
            for (int i=X_AXIS; i<=Y_AXIS; i++)
              current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
          #endif // !AUTO_BED_LEVELING_FEATURE
          // Set the new active extruder and position
          active_extruder = tmp_extruder;
        #endif // !DUAL_X_CARRIAGE
        #if ENABLED(DELTA)
          sync_plan_position_delta();
        #else
          sync_plan_position();
        #endif
        // Move to the old position if 'F' was in the parameters
        if (make_move && IsRunning()) prepare_move();
      }

      #if ENABLED(EXT_SOLENOID)
        st_synchronize();
        disable_all_solenoids();
        enable_solenoid_on_active_extruder();
      #endif // EXT_SOLENOID

    #endif // EXTRUDERS > 1
    SERIAL_ECHO_START;
    SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
    SERIAL_PROTOCOLLN((int)active_extruder);
  }
}

/**
 * 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 ((marlin_debug_flags & DEBUG_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' && ((current_command[1] >= '0' && current_command[1] <= '9') || current_command[1] == '-')) {
    current_command += 2; // skip N[-0-9]
    while (*current_command >= '0' && *current_command <= '9') ++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 ' '

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

  // Skip the letter-code and spaces to get the numeric part
  current_command_args = current_command + 1;
  while (*current_command_args == ' ') ++current_command_args;

  // The code must have a numeric value
  bool code_is_good = (*current_command_args >= '0' && *current_command_args <= '9');

  int codenum; // define ahead of goto

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

  // Args pointer optimizes code_seen, especially those taking XYZEF
  // This wastes a little cpu on commands that expect no arguments.
  while (*current_command_args == ' ' || (*current_command_args >= '0' && *current_command_args <= '9')) ++current_command_args;

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

  KEEPALIVE_STATE(IN_HANDLER);

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

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

      // G2, G3
      #if 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(FWRETRACT)

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

      #endif //FWRETRACT

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

      #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
        case 29: // G29 Detailed Z probe, probes the bed at 3 or more points.
          gcode_G29();
          break;
      #endif

      #if ENABLED(AUTO_BED_LEVELING_FEATURE)

        #if DISABLED(Z_PROBE_SLED)

          case 30: // G30 Single Z probe
            gcode_G30();
            break;

        #else // Z_PROBE_SLED

            case 31: // G31: dock the sled
            case 32: // G32: undock the sled
              dock_sled(codenum == 31);
              break;

        #endif // Z_PROBE_SLED

      #endif // AUTO_BED_LEVELING_FEATURE

      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)
        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:
        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 // LONG_FILENAME_HOST_SUPPORT

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

      #endif //SDSUPPORT

      case 31: //M31 take time since the start of the SD print or an M109 command
        gcode_M31();
        break;

      case 42: //M42 -Change pin status via gcode
        gcode_M42();
        break;

      #if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
        case 48: // M48 Z probe repeatability
          gcode_M48();
          break;
      #endif // AUTO_BED_LEVELING_FEATURE && Z_MIN_PROBE_REPEATABILITY_TEST

      #if ENABLED(M100_FREE_MEMORY_WATCHER)
        case 100:
          gcode_M100();
          break;
      #endif

      case 104: // M104
        gcode_M104();
        break;

      case 110: // M110: Set Current Line Number
        gcode_M110();
        break;

      case 111: // M111: Set debug level
        gcode_M111();
        break;

      case 112: // M112: Emergency Stop
        gcode_M112();
        break;

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

      case 105: // M105: Read current temperature
        gcode_M105();
        KEEPALIVE_STATE(NOT_BUSY);
        return; // "ok" already printed

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

      #if HAS_TEMP_BED
        case 190: // M190: Wait for bed heater 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:
        gcode_M82();
        break;
      case 83:
        gcode_M83();
        break;
      case 18: // (for compatibility)
      case 84: // M84
        gcode_M18_M84();
        break;
      case 85: // M85
        gcode_M85();
        break;
      case 92: // M92: Set the steps-per-unit for one or more axes
        gcode_M92();
        break;
      case 115: // M115: Report capabilities
        gcode_M115();
        break;
      case 117: // M117: Set LCD message text, if possible
        gcode_M117();
        break;
      case 114: // M114: Report current position
        gcode_M114();
        break;
      case 120: // M120: Enable endstops
        gcode_M120();
        break;
      case 121: // M121: Disable endstops
        gcode_M121();
        break;
      case 119: // M119: Report endstop states
        gcode_M119();
        break;

      #if ENABLED(ULTIPANEL)

        case 145: // M145: Set material heatup parameters
          gcode_M145();
          break;

      #endif

      #if ENABLED(BLINKM)

        case 150: // M150
          gcode_M150();
          break;

      #endif //BLINKM

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

      #if ENABLED(DELTA)
        case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
          gcode_M665();
          break;
      #endif

      #if ENABLED(DELTA) || ENABLED(Z_DUAL_ENDSTOPS)
        case 666: // M666 set delta / dual endstop adjustment
          gcode_M666();
          break;
      #endif

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

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

      case 220: // M220 S<factor in percent>- set speed factor override percentage
        gcode_M220();
        break;

      case 221: // M221 S<factor in percent>- set extrude factor override percentage
        gcode_M221();
        break;

      case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
        gcode_M226();
        break;

      #if HAS_SERVOS
        case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
          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
          gcode_M301();
          break;
      #endif // PIDTEMP

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

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

      #if ENABLED(HAS_LCD_CONTRAST)
        case 250: // M250  Set LCD contrast value: C<value> (value 0..63)
          gcode_M250();
          break;
      #endif // HAS_LCD_CONTRAST

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

      case 303: // M303 PID autotune
        gcode_M303();
        break;

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

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

      #if ENABLED(AUTO_BED_LEVELING_FEATURE) && (HAS_SERVO_ENDSTOPS || ENABLED(Z_PROBE_ALLEN_KEY)) && DISABLED(Z_PROBE_SLED)
        case 401:
          gcode_M401();
          break;
        case 402:
          gcode_M402();
          break;
      #endif // AUTO_BED_LEVELING_FEATURE && (HAS_SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED

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

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

      #if ENABLED(MESH_BED_LEVELING)
        case 420: // M420 Enable/Disable Mesh Bed Leveling
          gcode_M420();
          break;
        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:
          gcode_M540();
          break;
      #endif

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

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

      #if ENABLED(DUAL_X_CARRIAGE)
        case 605:
          gcode_M605();
          break;
      #endif // DUAL_X_CARRIAGE

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

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

      #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

      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();
}

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();
}

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 ((*p >= '0' && *p <= '9') || *p == '-')
        SERIAL_ECHO(*p++);
    }
    SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - movesplanned() - 1));
    SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue);
  #endif
  SERIAL_EOL;
}

void clamp_to_software_endstops(float target[3]) {
  if (min_software_endstops) {
    NOLESS(target[X_AXIS], min_pos[X_AXIS]);
    NOLESS(target[Y_AXIS], min_pos[Y_AXIS]);

    float negative_z_offset = 0;
    #if ENABLED(AUTO_BED_LEVELING_FEATURE)
      if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
      if (home_offset[Z_AXIS] < 0) {
        #if ENABLED(DEBUG_LEVELING_FEATURE)
          if (marlin_debug_flags & DEBUG_LEVELING) {
            SERIAL_ECHOPAIR("> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
            SERIAL_EOL;
          }
        #endif
        negative_z_offset += home_offset[Z_AXIS];
      }
    #endif
    NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset);
  }

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

#if ENABLED(DELTA)

  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);
  }

  void calculate_delta(float cartesian[3]) {

    delta[TOWER_1] = sqrt(delta_diagonal_rod_2_tower_1
                          - sq(delta_tower1_x - cartesian[X_AXIS])
                          - sq(delta_tower1_y - cartesian[Y_AXIS])
                         ) + cartesian[Z_AXIS];
    delta[TOWER_2] = sqrt(delta_diagonal_rod_2_tower_2
                          - sq(delta_tower2_x - cartesian[X_AXIS])
                          - sq(delta_tower2_y - cartesian[Y_AXIS])
                         ) + cartesian[Z_AXIS];
    delta[TOWER_3] = sqrt(delta_diagonal_rod_2_tower_3
                          - sq(delta_tower3_x - cartesian[X_AXIS])
                          - sq(delta_tower3_y - cartesian[Y_AXIS])
                         ) + cartesian[Z_AXIS];
    /*
    SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
    SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
    SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);

    SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[TOWER_1]);
    SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[TOWER_2]);
    SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[TOWER_3]);
    */
  }

  #if ENABLED(AUTO_BED_LEVELING_FEATURE)

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

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

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

      /*
      SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
      SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
      SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
      SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
      SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
      SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
      SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
      SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
      SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
      SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
      SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
      SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
      SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
      */
    }
  #endif // AUTO_BED_LEVELING_FEATURE

#endif // DELTA

#if ENABLED(MESH_BED_LEVELING)

// This function is used to split lines on mesh borders so each segment is only part of one mesh area
void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_rate, const uint8_t& extruder, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
  if (!mbl.active) {
    plan_buffer_line(x, y, z, e, feed_rate, extruder);
    set_current_to_destination();
    return;
  }
  int pix = mbl.select_x_index(current_position[X_AXIS]);
  int piy = mbl.select_y_index(current_position[Y_AXIS]);
  int ix = mbl.select_x_index(x);
  int iy = mbl.select_y_index(y);
  pix = min(pix, MESH_NUM_X_POINTS - 2);
  piy = min(piy, MESH_NUM_Y_POINTS - 2);
  ix = min(ix, MESH_NUM_X_POINTS - 2);
  iy = min(iy, MESH_NUM_Y_POINTS - 2);
  if (pix == ix && piy == iy) {
    // Start and end on same mesh square
    plan_buffer_line(x, y, z, e, feed_rate, extruder);
    set_current_to_destination();
    return;
  }
  float nx, ny, nz, ne, normalized_dist;
  if (ix > pix && TEST(x_splits, ix)) {
    nx = mbl.get_x(ix);
    normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
    ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
    nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
    ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
    CBI(x_splits, ix);
  }
  else if (ix < pix && TEST(x_splits, pix)) {
    nx = mbl.get_x(pix);
    normalized_dist = (nx - current_position[X_AXIS]) / (x - current_position[X_AXIS]);
    ny = current_position[Y_AXIS] + (y - current_position[Y_AXIS]) * normalized_dist;
    nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
    ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
    CBI(x_splits, pix);
  }
  else if (iy > piy && TEST(y_splits, iy)) {
    ny = mbl.get_y(iy);
    normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
    nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
    nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
    ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
    CBI(y_splits, iy);
  }
  else if (iy < piy && TEST(y_splits, piy)) {
    ny = mbl.get_y(piy);
    normalized_dist = (ny - current_position[Y_AXIS]) / (y - current_position[Y_AXIS]);
    nx = current_position[X_AXIS] + (x - current_position[X_AXIS]) * normalized_dist;
    nz = current_position[Z_AXIS] + (z - current_position[Z_AXIS]) * normalized_dist;
    ne = current_position[E_AXIS] + (e - current_position[E_AXIS]) * normalized_dist;
    CBI(y_splits, piy);
  }
  else {
    // Already split on a border
    plan_buffer_line(x, y, z, e, feed_rate, extruder);
    set_current_to_destination();
    return;
  }
  // Do the split and look for more borders
  destination[X_AXIS] = nx;
  destination[Y_AXIS] = ny;
  destination[Z_AXIS] = nz;
  destination[E_AXIS] = ne;
  mesh_plan_buffer_line(nx, ny, nz, ne, feed_rate, extruder, x_splits, y_splits);
  destination[X_AXIS] = x;
  destination[Y_AXIS] = y;
  destination[Z_AXIS] = z;
  destination[E_AXIS] = e;
  mesh_plan_buffer_line(x, y, z, e, feed_rate, extruder, x_splits, y_splits);
}
#endif  // MESH_BED_LEVELING

#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)

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

#endif // PREVENT_DANGEROUS_EXTRUDE

#if ENABLED(DELTA) || ENABLED(SCARA)

  inline bool prepare_move_delta(float target[NUM_AXIS]) {
    float difference[NUM_AXIS];
    for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];

    float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
    if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
    if (cartesian_mm < 0.000001) return false;
    float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
    int steps = max(1, int(delta_segments_per_second * seconds));

    // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
    // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
    // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);

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

      float fraction = float(s) / float(steps);

      for (int8_t i = 0; i < NUM_AXIS; i++)
        target[i] = current_position[i] + difference[i] * fraction;

      calculate_delta(target);

      #if ENABLED(AUTO_BED_LEVELING_FEATURE)
        adjust_delta(target);
      #endif

      //SERIAL_ECHOPGM("target[X_AXIS]="); SERIAL_ECHOLN(target[X_AXIS]);
      //SERIAL_ECHOPGM("target[Y_AXIS]="); SERIAL_ECHOLN(target[Y_AXIS]);
      //SERIAL_ECHOPGM("target[Z_AXIS]="); SERIAL_ECHOLN(target[Z_AXIS]);
      //SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
      //SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
      //SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);

      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feedrate / 60 * feedrate_multiplier / 100.0, active_extruder);
    }
    return true;
  }

#endif // DELTA || SCARA

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

#if ENABLED(DUAL_X_CARRIAGE)

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

#endif // DUAL_X_CARRIAGE

#if DISABLED(DELTA) && DISABLED(SCARA)

  inline bool prepare_move_cartesian() {
    // Do not use feedrate_multiplier for E or Z only moves
    if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
      line_to_destination();
    }
    else {
      #if ENABLED(MESH_BED_LEVELING)
        mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate / 60) * (feedrate_multiplier / 100.0), active_extruder);
        return false;
      #else
        line_to_destination(feedrate * feedrate_multiplier / 100.0);
      #endif
    }
    return true;
  }

#endif // !DELTA && !SCARA

/**
 * Prepare a single move and get ready for the next one
 *
 * (This may call plan_buffer_line several times to put
 *  smaller moves into the planner for DELTA or SCARA.)
 */
void prepare_move() {
  clamp_to_software_endstops(destination);
  refresh_cmd_timeout();

  #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
    prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
  #endif

  #if ENABLED(SCARA)
    if (!prepare_move_scara(destination)) return;
  #elif ENABLED(DELTA)
    if (!prepare_move_delta(destination)) return;
  #endif

  #if ENABLED(DUAL_X_CARRIAGE)
    if (!prepare_move_dual_x_carriage()) return;
  #endif

  #if DISABLED(DELTA) && DISABLED(SCARA)
    if (!prepare_move_cartesian()) return;
  #endif

  set_current_to_destination();
}

/**
 * Plan an arc in 2 dimensions
 *
 * The arc is approximated by generating many small linear segments.
 * The length of each segment is configured in MM_PER_ARC_SEGMENT (Default 1mm)
 * Arcs should only be made relatively large (over 5mm), as larger arcs with
 * larger segments will tend to be more efficient. Your slicer should have
 * options for G2/G3 arc generation. In future these options may be GCode tunable.
 */
void plan_arc(
  float target[NUM_AXIS], // Destination position
  float* offset,          // Center of rotation relative to current_position
  uint8_t clockwise       // Clockwise?
) {

  float radius = hypot(offset[X_AXIS], offset[Y_AXIS]),
        center_axis0 = current_position[X_AXIS] + offset[X_AXIS],
        center_axis1 = current_position[Y_AXIS] + offset[Y_AXIS],
        linear_travel = target[Z_AXIS] - current_position[Z_AXIS],
        extruder_travel = target[E_AXIS] - current_position[E_AXIS],
        r_axis0 = -offset[X_AXIS],  // Radius vector from center to current location
        r_axis1 = -offset[Y_AXIS],
        rt_axis0 = target[X_AXIS] - center_axis0,
        rt_axis1 = target[Y_AXIS] - center_axis1;

  // CCW angle of rotation between position and target from the circle center. Only one atan2() trig computation required.
  float angular_travel = atan2(r_axis0 * rt_axis1 - r_axis1 * rt_axis0, r_axis0 * rt_axis0 + r_axis1 * rt_axis1);
  if (angular_travel < 0)  angular_travel += RADIANS(360);
  if (clockwise)  angular_travel -= RADIANS(360);

  // Make a circle if the angular rotation is 0
  if (current_position[X_AXIS] == target[X_AXIS] && current_position[Y_AXIS] == target[Y_AXIS] && angular_travel == 0)
    angular_travel += RADIANS(360);

  float mm_of_travel = hypot(angular_travel * radius, fabs(linear_travel));
  if (mm_of_travel < 0.001)  return;
  uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
  if (segments == 0) segments = 1;

  float theta_per_segment = angular_travel / segments;
  float linear_per_segment = linear_travel / segments;
  float extruder_per_segment = extruder_travel / segments;

  /* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
     and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
         r_T = [cos(phi) -sin(phi);
                sin(phi)  cos(phi] * r ;

     For arc generation, the center of the circle is the axis of rotation and the radius vector is
     defined from the circle center to the initial position. Each line segment is formed by successive
     vector rotations. This requires only two cos() and sin() computations to form the rotation
     matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
     all double numbers are single precision on the Arduino. (True double precision will not have
     round off issues for CNC applications.) Single precision error can accumulate to be greater than
     tool precision in some cases. Therefore, arc path correction is implemented.

     Small angle approximation may be used to reduce computation overhead further. This approximation
     holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
     theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
     to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
     numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
     issue for CNC machines with the single precision Arduino calculations.

     This approximation also allows plan_arc to immediately insert a line segment into the planner
     without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
     a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
     This is important when there are successive arc motions.
  */
  // Vector rotation matrix values
  float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation
  float sin_T = theta_per_segment;

  float arc_target[NUM_AXIS];
  float sin_Ti;
  float cos_Ti;
  float r_axisi;
  uint16_t i;
  int8_t count = 0;

  // Initialize the linear axis
  arc_target[Z_AXIS] = current_position[Z_AXIS];

  // Initialize the extruder axis
  arc_target[E_AXIS] = current_position[E_AXIS];

  float feed_rate = feedrate * feedrate_multiplier / 60 / 100.0;

  for (i = 1; i < segments; i++) { // Increment (segments-1)

    if (count < N_ARC_CORRECTION) {
      // Apply vector rotation matrix to previous r_axis0 / 1
      r_axisi = r_axis0 * sin_T + r_axis1 * cos_T;
      r_axis0 = r_axis0 * cos_T - r_axis1 * sin_T;
      r_axis1 = r_axisi;
      count++;
    }
    else {
      // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
      // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
      cos_Ti = cos(i * theta_per_segment);
      sin_Ti = sin(i * theta_per_segment);
      r_axis0 = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
      r_axis1 = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
      count = 0;
    }

    // Update arc_target location
    arc_target[X_AXIS] = center_axis0 + r_axis0;
    arc_target[Y_AXIS] = center_axis1 + r_axis1;
    arc_target[Z_AXIS] += linear_per_segment;
    arc_target[E_AXIS] += extruder_per_segment;

    clamp_to_software_endstops(arc_target);

    #if ENABLED(DELTA) || ENABLED(SCARA)
      calculate_delta(arc_target);
      #if ENABLED(AUTO_BED_LEVELING_FEATURE)
        adjust_delta(arc_target);
      #endif
      plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
    #else
      plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, active_extruder);
    #endif
  }

  // Ensure last segment arrives at target location.
  #if ENABLED(DELTA) || ENABLED(SCARA)
    calculate_delta(target);
    #if ENABLED(AUTO_BED_LEVELING_FEATURE)
      adjust_delta(target);
    #endif
    plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
  #else
    plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, active_extruder);
  #endif

  // As far as the parser is concerned, the position is now == target. In reality the
  // motion control system might still be processing the action and the real tool position
  // in any intermediate location.
  set_current_to_destination();
}

#if HAS_CONTROLLERFAN

  void controllerFan() {
    static millis_t lastMotor = 0;      // Last time a motor was turned on
    static millis_t lastMotorCheck = 0; // Last time the state was checked
    millis_t ms = millis();
    if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms
      lastMotorCheck = ms;
      if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
          || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
          #if EXTRUDERS > 1
            || E1_ENABLE_READ == E_ENABLE_ON
            #if HAS_X2_ENABLE
              || X2_ENABLE_READ == X_ENABLE_ON
            #endif
            #if EXTRUDERS > 2
              || E2_ENABLE_READ == E_ENABLE_ON
              #if EXTRUDERS > 3
                || E3_ENABLE_READ == E_ENABLE_ON
              #endif
            #endif
          #endif
      ) {
        lastMotor = ms; //... set time to NOW so the fan will turn on
      }
      uint8_t speed = (lastMotor == 0 || ms >= lastMotor + ((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(SCARA)

  void calculate_SCARA_forward_Transform(float f_scara[3]) {
    // Perform forward kinematics, and place results in delta[3]
    // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014

    float x_sin, x_cos, y_sin, y_cos;

    //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
    //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);

    x_sin = sin(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
    x_cos = cos(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
    y_sin = sin(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
    y_cos = cos(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;

    //SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
    //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
    //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
    //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);

    delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x;  //theta
    delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y;  //theta+phi

    //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
    //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
  }

  void calculate_delta(float cartesian[3]) {
    //reverse kinematics.
    // Perform reversed kinematics, and place results in delta[3]
    // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014

    float SCARA_pos[2];
    static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;

    SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x;  //Translate SCARA to standard X Y
    SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y;  // With scaling factor.

    #if (Linkage_1 == Linkage_2)
      SCARA_C2 = ((sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS])) / (2 * (float)L1_2)) - 1;
    #else
      SCARA_C2 = (sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2) / 45000;
    #endif

    SCARA_S2 = sqrt(1 - sq(SCARA_C2));

    SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
    SCARA_K2 = Linkage_2 * SCARA_S2;

    SCARA_theta = (atan2(SCARA_pos[X_AXIS], SCARA_pos[Y_AXIS]) - atan2(SCARA_K1, SCARA_K2)) * -1;
    SCARA_psi = atan2(SCARA_S2, SCARA_C2);

    delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG;  // Multiply by 180/Pi  -  theta is support arm angle
    delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG;  //       -  equal to sub arm angle (inverted motor)
    delta[Z_AXIS] = cartesian[Z_AXIS];

    /*
    SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
    SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
    SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);

    SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
    SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);

    SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
    SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
    SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);

    SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
    SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
    SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
    SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
    SERIAL_EOL;
    */
  }

#endif // 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) {
    float max_temp = 0.0;
    if (millis() > next_status_led_update_ms) {
      next_status_led_update_ms += 500; // Update every 0.5s
      for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder)
        max_temp = max(max(max_temp, degHotend(cur_extruder)), degTargetHotend(cur_extruder));
      #if HAS_TEMP_BED
        max_temp = max(max(max_temp, degTargetBed()), degBed());
      #endif
      bool new_led = (max_temp > 55.0) ? true : (max_temp < 54.0) ? false : red_led;
      if (new_led != red_led) {
        red_led = new_led;
        digitalWrite(STAT_LED_RED, new_led ? HIGH : LOW);
        digitalWrite(STAT_LED_BLUE, new_led ? LOW : HIGH);
      }
    }
  }

#endif

void enable_all_steppers() {
  enable_x();
  enable_y();
  enable_z();
  enable_e0();
  enable_e1();
  enable_e2();
  enable_e3();
}

void disable_all_steppers() {
  disable_x();
  disable_y();
  disable_z();
  disable_e0();
  disable_e1();
  disable_e2();
  disable_e3();
}

/**
 * Standard idle routine keeps the machine alive
 */
void idle(
  #if ENABLED(FILAMENTCHANGEENABLE)
    bool no_stepper_sleep/*=false*/
  #endif
) {
  manage_heater();
  manage_inactivity(
    #if ENABLED(FILAMENTCHANGEENABLE)
      no_stepper_sleep
    #endif
  );
  host_keepalive();
  lcd_update();
}

/**
 * Manage several activities:
 *  - Check for Filament Runout
 *  - Keep the command buffer full
 *  - Check for maximum inactive time between commands
 *  - Check for maximum inactive time between stepper commands
 *  - Check if pin CHDK needs to go LOW
 *  - Check for KILL button held down
 *  - Check for HOME button held down
 *  - Check if cooling fan needs to be switched on
 *  - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
 */
void manage_inactivity(bool ignore_stepper_queue/*=false*/) {

  #if HAS_FILRUNOUT
    if (IS_SD_PRINTING && !(READ(FILRUNOUT_PIN) ^ FIL_RUNOUT_INVERTING))
      filrunout();
  #endif

  if (commands_in_queue < BUFSIZE) get_command();

  millis_t ms = millis();

  if (max_inactive_time && ms > previous_cmd_ms + max_inactive_time) kill(PSTR(MSG_KILLED));

  if (stepper_inactive_time && ms > previous_cmd_ms + stepper_inactive_time
      && !ignore_stepper_queue && !blocks_queued()) {
    #if 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 && 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 (!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 (ms > previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000)
      if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
        bool oldstatus;
        switch (active_extruder) {
          case 0:
            oldstatus = E0_ENABLE_READ;
            enable_e0();
            break;
          #if EXTRUDERS > 1
            case 1:
              oldstatus = E1_ENABLE_READ;
              enable_e1();
              break;
            #if EXTRUDERS > 2
              case 2:
                oldstatus = E2_ENABLE_READ;
                enable_e2();
                break;
              #if EXTRUDERS > 3
                case 3:
                  oldstatus = E3_ENABLE_READ;
                  enable_e3();
                  break;
              #endif
            #endif
          #endif
        }
        float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
        plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
                         destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS],
                         (EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / axis_steps_per_unit[E_AXIS], active_extruder);
      current_position[E_AXIS] = oldepos;
      destination[E_AXIS] = oldedes;
      plan_set_e_position(oldepos);
      previous_cmd_ms = ms; // refresh_cmd_timeout()
      st_synchronize();
      switch (active_extruder) {
        case 0:
          E0_ENABLE_WRITE(oldstatus);
          break;
        #if EXTRUDERS > 1
          case 1:
            E1_ENABLE_WRITE(oldstatus);
            break;
          #if EXTRUDERS > 2
            case 2:
              E2_ENABLE_WRITE(oldstatus);
              break;
            #if EXTRUDERS > 3
              case 3:
                E3_ENABLE_WRITE(oldstatus);
                break;
            #endif
          #endif
        #endif
      }
    }
  #endif

  #if ENABLED(DUAL_X_CARRIAGE)
    // handle delayed move timeout
    if (delayed_move_time && ms > delayed_move_time + 1000 && IsRunning()) {
      // travel moves have been received so enact them
      delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
      set_destination_to_current();
      prepare_move();
    }
  #endif

  #if ENABLED(TEMP_STAT_LEDS)
    handle_status_leds();
  #endif

  check_axes_activity();
}

void kill(const char* lcd_msg) {
  #if ENABLED(ULTRA_LCD)
    lcd_setalertstatuspgm(lcd_msg);
  #else
    UNUSED(lcd_msg);
  #endif

  cli(); // Stop interrupts
  disable_all_heaters();
  disable_all_steppers();

  #if HAS_POWER_SWITCH
    pinMode(PS_ON_PIN, INPUT);
  #endif

  SERIAL_ERROR_START;
  SERIAL_ERRORLNPGM(MSG_ERR_KILLED);

  // FMC small patch to update the LCD before ending
  sei();   // enable interrupts
  for (int i = 5; i--; lcd_update()) delay(200); // Wait a short time
  cli();   // disable interrupts
  suicide();
  while (1) {
    #if ENABLED(USE_WATCHDOG)
      watchdog_reset();
    #endif
  } // Wait for reset
}

#if ENABLED(FILAMENT_RUNOUT_SENSOR)

  void filrunout() {
    if (!filrunoutEnqueued) {
      filrunoutEnqueued = true;
      enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
      st_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

void Stop() {
  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);
  }
}

/**
 * Set target_extruder from the T parameter or the active_extruder
 *
 * Returns TRUE if the target is invalid
 */
bool setTargetedHotend(int code) {
  target_extruder = active_extruder;
  if (code_seen('T')) {
    target_extruder = code_value_short();
    if (target_extruder >= EXTRUDERS) {
      SERIAL_ECHO_START;
      SERIAL_CHAR('M');
      SERIAL_ECHO(code);
      SERIAL_ECHOPGM(" " MSG_INVALID_EXTRUDER " ");
      SERIAL_ECHOLN(target_extruder);
      return true;
    }
  }
  return false;
}

float calculate_volumetric_multiplier(float diameter) {
  if (!volumetric_enabled || diameter == 0) return 1.0;
  float d2 = diameter * 0.5;
  return 1.0 / (M_PI * d2 * d2);
}

void calculate_volumetric_multipliers() {
  for (int i = 0; i < EXTRUDERS; i++)
    volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}

/**
 * Start the print job timer
 *
 * The print job is only started if all extruders have their target temp at zero
 * otherwise the print job timew would be reset everytime a M109 is received.
 *
 * @param t start timer timestamp
 *
 * @return true if the timer was started at function call
 */
bool print_job_start(millis_t t /* = 0 */) {
  for (int i = 0; i < EXTRUDERS; i++) if (degTargetHotend(i) > 0) return false;
  print_job_start_ms = (t) ? t : millis();
  print_job_stop_ms = 0;
  return true;
}

/**
 * Output the print job timer in seconds
 *
 * @return the number of seconds
 */
millis_t print_job_timer() {
  if (!print_job_start_ms) return 0;
  return (((print_job_stop_ms > print_job_start_ms)
    ? print_job_stop_ms : millis()) - print_job_start_ms) / 1000;
}

/**
 * Check if the running print job has finished and stop the timer
 *
 * When the target temperature for all extruders is zero then we assume that the
 * print job has finished printing. There are some special conditions under which
 * this assumption may not be valid: If during a print job for some reason the
 * user decides to bring a nozzle temp down and only then heat the other afterwards.
 *
 * @param force stops the timer ignoring all pre-checks
 *
 * @return boolean true if the print job has finished printing
 */
bool print_job_stop(bool force /* = false */) {
  if (!print_job_start_ms) return false;
  if (!force) for (int i = 0; i < EXTRUDERS; i++) if (degTargetHotend(i) > 0) return false;
  print_job_stop_ms = millis();
  return true;
}