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900 lines
34 KiB
900 lines
34 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* gcode.h - Temporary container for all gcode handlers
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*/
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/**
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* -----------------
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* G-Codes in Marlin
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* -----------------
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*
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* Helpful G-code references:
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* - https://marlinfw.org/meta/gcode
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* - https://reprap.org/wiki/G-code
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* - https://linuxcnc.org/docs/html/gcode.html
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*
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* Help to document Marlin's G-codes online:
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* - https://github.com/MarlinFirmware/MarlinDocumentation
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*
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* -----------------
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*
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* "G" Codes
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*
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* G0 -> G1
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* G1 - Coordinated Movement X Y Z E
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* G2 - CW ARC
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* G3 - CCW ARC
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* G4 - Dwell S<seconds> or P<milliseconds>
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* G5 - Cubic B-spline with XYZE destination and IJPQ offsets
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* G10 - Retract filament according to settings of M207 (Requires FWRETRACT)
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* G11 - Retract recover filament according to settings of M208 (Requires FWRETRACT)
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* G12 - Clean tool (Requires NOZZLE_CLEAN_FEATURE)
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* G17 - Select Plane XY (Requires CNC_WORKSPACE_PLANES)
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* G18 - Select Plane ZX (Requires CNC_WORKSPACE_PLANES)
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* G19 - Select Plane YZ (Requires CNC_WORKSPACE_PLANES)
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* G20 - Set input units to inches (Requires INCH_MODE_SUPPORT)
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* G21 - Set input units to millimeters (Requires INCH_MODE_SUPPORT)
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* G26 - Mesh Validation Pattern (Requires G26_MESH_VALIDATION)
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* G27 - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
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* G28 - Home one or more axes
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* G29 - Start or continue the bed leveling probe procedure (Requires bed leveling)
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* G30 - Single Z probe, probes bed at X Y location (defaults to current XY location)
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* G31 - Dock sled (Z_PROBE_SLED only)
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* G32 - Undock sled (Z_PROBE_SLED only)
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* G33 - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
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* G34 - Z Stepper automatic alignment using probe: I<iterations> T<accuracy> A<amplification> (Requires Z_STEPPER_AUTO_ALIGN)
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* G35 - Read bed corners to help adjust bed screws: T<screw_thread> (Requires ASSISTED_TRAMMING)
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* G38 - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
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* G42 - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
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* G60 - Save current position. (Requires SAVED_POSITIONS)
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* G61 - Apply/restore saved coordinates. (Requires SAVED_POSITIONS)
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* G76 - Calibrate first layer temperature offsets. (Requires PROBE_TEMP_COMPENSATION)
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* G80 - Cancel current motion mode (Requires GCODE_MOTION_MODES)
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* G90 - Use Absolute Coordinates
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* G91 - Use Relative Coordinates
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* G92 - Set current position to coordinates given
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*
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* "M" Codes
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*
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* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
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* M1 -> M0
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* M3 - Turn ON Laser | Spindle (clockwise), set Power | Speed. (Requires SPINDLE_FEATURE or LASER_FEATURE)
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* M4 - Turn ON Laser | Spindle (counter-clockwise), set Power | Speed. (Requires SPINDLE_FEATURE or LASER_FEATURE)
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* M5 - Turn OFF Laser | Spindle. (Requires SPINDLE_FEATURE or LASER_FEATURE)
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* M7 - Turn mist coolant ON. (Requires COOLANT_CONTROL)
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* M8 - Turn flood coolant ON. (Requires COOLANT_CONTROL)
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* M9 - Turn coolant OFF. (Requires COOLANT_CONTROL)
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* M12 - Set up closed loop control system. (Requires EXTERNAL_CLOSED_LOOP_CONTROLLER)
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* M16 - Expected printer check. (Requires EXPECTED_PRINTER_CHECK)
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* M17 - Enable/Power all stepper motors
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* M18 - Disable all stepper motors; same as M84
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* M20 - List SD card. (Requires SDSUPPORT)
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* M21 - Init SD card. (Requires SDSUPPORT)
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* M22 - Release SD card. (Requires SDSUPPORT)
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* M23 - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
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* M24 - Start/resume SD print. (Requires SDSUPPORT)
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* M25 - Pause SD print. (Requires SDSUPPORT)
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* M26 - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
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* M27 - Report SD print status. (Requires SDSUPPORT)
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* OR, with 'S<seconds>' set the SD status auto-report interval. (Requires AUTO_REPORT_SD_STATUS)
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* OR, with 'C' get the current filename.
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* M28 - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
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* M29 - Stop SD write. (Requires SDSUPPORT)
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* M30 - Delete file from SD: "M30 /path/file.gco"
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* M31 - Report time since last M109 or SD card start to serial.
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* M32 - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
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* Use P to run other files as sub-programs: "M32 P !filename#"
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* The '#' is necessary when calling from within sd files, as it stops buffer prereading
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* M33 - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
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* M34 - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
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* M42 - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted. (Requires DIRECT_PIN_CONTROL)
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* M43 - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
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* M48 - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs> S<chizoid>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
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* M73 - Set the progress percentage. (Requires LCD_SET_PROGRESS_MANUALLY)
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* M75 - Start the print job timer.
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* M76 - Pause the print job timer.
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* M77 - Stop the print job timer.
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* M78 - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
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* M80 - Turn on Power Supply. (Requires PSU_CONTROL)
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* M81 - Turn off Power Supply. (Requires PSU_CONTROL)
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* M82 - Set E codes absolute (default).
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* M83 - Set E codes relative while in Absolute (G90) mode.
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* M84 - Disable steppers until next move, or use S<seconds> to specify an idle
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* duration after which steppers should turn off. S0 disables the timeout.
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* M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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* M92 - Set planner.settings.axis_steps_per_mm for one or more axes.
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* M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
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* M104 - Set extruder target temp.
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* M105 - Report current temperatures.
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* M106 - Set print fan speed.
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* M107 - Print fan off.
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* M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
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* M109 - S<temp> Wait for extruder current temp to reach target temp. ** Wait only when heating! **
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* R<temp> Wait for extruder current temp to reach target temp. ** Wait for heating or cooling. **
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* If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
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* M110 - Set the current line number. (Used by host printing)
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* M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
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* M112 - Full Shutdown.
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* M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
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* M114 - Report current position.
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* M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
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* M117 - Display a message on the controller screen. (Requires an LCD)
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* M118 - Display a message in the host console.
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* M119 - Report endstops status.
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* M120 - Enable endstops detection.
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* M121 - Disable endstops detection.
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* M122 - Debug stepper (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470)
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* M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
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* M126 - Solenoid Air Valve Open. (Requires BARICUDA)
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* M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
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* M128 - EtoP Open. (Requires BARICUDA)
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* M129 - EtoP Closed. (Requires BARICUDA)
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* M140 - Set bed target temp. S<temp>
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* M141 - Set heated chamber target temp. S<temp> (Requires a chamber heater)
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* M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
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* M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
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* M150 - Set Status LED Color as R<red> U<green> B<blue> W<white> P<bright>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, NEOPIXEL_LED, PCA9533, or PCA9632).
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* M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
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* M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
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* M164 - Commit the mix and save to a virtual tool (current, or as specified by 'S'). (Requires MIXING_EXTRUDER)
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* M165 - Set the mix for the mixing extruder (and current virtual tool) with parameters ABCDHI. (Requires MIXING_EXTRUDER and DIRECT_MIXING_IN_G1)
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* M166 - Set the Gradient Mix for the mixing extruder. (Requires GRADIENT_MIX)
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* M190 - S<temp> Wait for bed current temp to reach target temp. ** Wait only when heating! **
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* R<temp> Wait for bed current temp to reach target temp. ** Wait for heating or cooling. **
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* M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
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* M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
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* M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
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* M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
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* M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
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* M205 - Set advanced settings. Current units apply:
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S<print> T<travel> minimum speeds
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B<minimum segment time>
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X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
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* M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
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* M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
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* M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
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* M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT_AUTORETRACT)
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Every normal extrude-only move will be classified as retract depending on the direction.
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* M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
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* M217 - Set filament swap parameters: "M217 S<length> P<feedrate> R<feedrate>". (Requires SINGLENOZZLE)
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* M218 - Set/get a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
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* M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
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* Use "M220 B" to back up the Feedrate Percentage and "M220 R" to restore it. (Requires an MMU_MODEL version 2 or 2S)
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* M221 - Set Flow Percentage: "M221 S<percent>"
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* M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>" (Requires DIRECT_PIN_CONTROL)
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* M240 - Trigger a camera to take a photograph. (Requires PHOTO_GCODE)
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* M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
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* M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
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* M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
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* M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
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* M281 - Set servo min|max position: "M281 P<index> L<min> U<max>". (Requires EDITABLE_SERVO_ANGLES)
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* M290 - Babystepping (Requires BABYSTEPPING)
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* M300 - Play beep sound S<frequency Hz> P<duration ms>
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* M301 - Set PID parameters P I and D. (Requires PIDTEMP)
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* M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
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* M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
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* M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
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* M305 - Set user thermistor parameters R T and P. (Requires TEMP_SENSOR_x 1000)
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* M350 - Set microstepping mode. (Requires digital microstepping pins.)
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* M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
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* M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN)
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* M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
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* M381 - Disable all solenoids. (Requires EXT_SOLENOID)
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* M400 - Finish all moves.
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* M401 - Deploy and activate Z probe. (Requires a probe)
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* M402 - Deactivate and stow Z probe. (Requires a probe)
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* M403 - Set filament type for PRUSA MMU2
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* M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
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* M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
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* M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
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* M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
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* M410 - Quickstop. Abort all planned moves.
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* M412 - Enable / Disable Filament Runout Detection. (Requires FILAMENT_RUNOUT_SENSOR)
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* M413 - Enable / Disable Power-Loss Recovery. (Requires POWER_LOSS_RECOVERY)
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* M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
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* M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, or AUTO_BED_LEVELING_UBL)
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* M422 - Set Z Stepper automatic alignment position using probe. X<units> Y<units> A<axis> (Requires Z_STEPPER_AUTO_ALIGN)
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* M425 - Enable/Disable and tune backlash correction. (Requires BACKLASH_COMPENSATION and BACKLASH_GCODE)
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* M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
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* M430 - Read the system current, voltage, and power (Requires POWER_MONITOR_CURRENT, POWER_MONITOR_VOLTAGE, or POWER_MONITOR_FIXED_VOLTAGE)
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* M486 - Identify and cancel objects. (Requires CANCEL_OBJECTS)
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* M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
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* M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
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* M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
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* M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
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* M504 - Validate EEPROM contents. (Requires EEPROM_SETTINGS)
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* M510 - Lock Printer
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* M511 - Unlock Printer
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* M512 - Set/Change/Remove Password
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* M524 - Abort the current SD print job started with M24. (Requires SDSUPPORT)
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* M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires SD_ABORT_ON_ENDSTOP_HIT)
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* M552 - Get or set IP address. Enable/disable network interface. (Requires enabled Ethernet port)
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* M553 - Get or set IP netmask. (Requires enabled Ethernet port)
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* M554 - Get or set IP gateway. (Requires enabled Ethernet port)
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* M569 - Enable stealthChop on an axis. (Requires at least one _DRIVER_TYPE to be TMC2130/2160/2208/2209/5130/5160)
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* M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
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* M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
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* M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
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* M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
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* M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
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* M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
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* M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
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* M702 - Unload filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
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* M808 - Set or Goto a Repeat Marker (Requires GCODE_REPEAT_MARKERS)
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* M810-M819 - Define/execute a G-code macro (Requires GCODE_MACROS)
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* M851 - Set Z probe's XYZ offsets in current units. (Negative values: X=left, Y=front, Z=below)
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* M852 - Set skew factors: "M852 [I<xy>] [J<xz>] [K<yz>]". (Requires SKEW_CORRECTION_GCODE, and SKEW_CORRECTION_FOR_Z for IJ)
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* M860 - Report the position of position encoder modules.
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* M861 - Report the status of position encoder modules.
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* M862 - Perform an axis continuity test for position encoder modules.
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* M863 - Perform steps-per-mm calibration for position encoder modules.
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* M864 - Change position encoder module I2C address.
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* M865 - Check position encoder module firmware version.
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* M866 - Report or reset position encoder module error count.
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* M867 - Enable/disable or toggle error correction for position encoder modules.
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* M868 - Report or set position encoder module error correction threshold.
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* M869 - Report position encoder module error.
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* M871 - Print/reset/clear first layer temperature offset values. (Requires PROBE_TEMP_COMPENSATION)
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* M192 - Wait for probe temp (Requires PROBE_TEMP_COMPENSATION)
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* M876 - Handle Prompt Response. (Requires HOST_PROMPT_SUPPORT and not EMERGENCY_PARSER)
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* M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE)
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* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470)
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* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
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* M908 - Control digital trimpot directly. (Requires HAS_MOTOR_CURRENT_DAC or DIGIPOTSS_PIN)
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* M909 - Print digipot/DAC current value. (Requires HAS_MOTOR_CURRENT_DAC)
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* M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires HAS_MOTOR_CURRENT_DAC)
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* M911 - Report stepper driver overtemperature pre-warn condition. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660)
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* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660)
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* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
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* M914 - Set StallGuard sensitivity. (Requires SENSORLESS_HOMING or SENSORLESS_PROBING)
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* M916 - L6470 tuning: Increase KVAL_HOLD until thermal warning. (Requires at least one _DRIVER_TYPE L6470)
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* M917 - L6470 tuning: Find minimum current thresholds. (Requires at least one _DRIVER_TYPE L6470)
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* M918 - L6470 tuning: Increase speed until max or error. (Requires at least one _DRIVER_TYPE L6470)
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* M951 - Set Magnetic Parking Extruder parameters. (Requires MAGNETIC_PARKING_EXTRUDER)
|
|
* M7219 - Control Max7219 Matrix LEDs. (Requires MAX7219_GCODE)
|
|
*
|
|
* 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)
|
|
*
|
|
* ************ Custom codes - This can change to suit future G-code regulations
|
|
* G425 - Calibrate using a conductive object. (Requires CALIBRATION_GCODE)
|
|
* M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
|
|
* M993 - Backup SPI Flash to SD
|
|
* M994 - Load a Backup from SD to SPI Flash
|
|
* M995 - Touch screen calibration for TFT display
|
|
* M997 - Perform in-application firmware update
|
|
* M999 - Restart after being stopped by error
|
|
* D... - Custom Development G-code. Add hooks to 'gcode_D.cpp' for developers to test features. (Requires MARLIN_DEV_MODE)
|
|
*
|
|
* "T" Codes
|
|
*
|
|
* T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
|
|
*/
|
|
|
|
#include "../inc/MarlinConfig.h"
|
|
#include "parser.h"
|
|
|
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
|
#include "../feature/encoder_i2c.h"
|
|
#endif
|
|
|
|
#if IS_SCARA || defined(G0_FEEDRATE)
|
|
#define HAS_FAST_MOVES 1
|
|
#endif
|
|
|
|
enum AxisRelative : uint8_t { REL_X, REL_Y, REL_Z, REL_E, E_MODE_ABS, E_MODE_REL };
|
|
|
|
class GcodeSuite {
|
|
public:
|
|
|
|
static uint8_t axis_relative;
|
|
|
|
static inline bool axis_is_relative(const AxisEnum a) {
|
|
if (a == E_AXIS) {
|
|
if (TEST(axis_relative, E_MODE_REL)) return true;
|
|
if (TEST(axis_relative, E_MODE_ABS)) return false;
|
|
}
|
|
return TEST(axis_relative, a);
|
|
}
|
|
static inline void set_relative_mode(const bool rel) {
|
|
axis_relative = rel ? _BV(REL_X) | _BV(REL_Y) | _BV(REL_Z) | _BV(REL_E) : 0;
|
|
}
|
|
static inline void set_e_relative() {
|
|
CBI(axis_relative, E_MODE_ABS);
|
|
SBI(axis_relative, E_MODE_REL);
|
|
}
|
|
static inline void set_e_absolute() {
|
|
CBI(axis_relative, E_MODE_REL);
|
|
SBI(axis_relative, E_MODE_ABS);
|
|
}
|
|
|
|
#if ENABLED(CNC_WORKSPACE_PLANES)
|
|
/**
|
|
* Workspace planes only apply to G2/G3 moves
|
|
* (and "canned cycles" - not a current feature)
|
|
*/
|
|
enum WorkspacePlane : char { PLANE_XY, PLANE_ZX, PLANE_YZ };
|
|
static WorkspacePlane workspace_plane;
|
|
#endif
|
|
|
|
#define MAX_COORDINATE_SYSTEMS 9
|
|
#if ENABLED(CNC_COORDINATE_SYSTEMS)
|
|
static int8_t active_coordinate_system;
|
|
static xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS];
|
|
static bool select_coordinate_system(const int8_t _new);
|
|
#endif
|
|
|
|
static millis_t previous_move_ms, max_inactive_time, stepper_inactive_time;
|
|
FORCE_INLINE static void reset_stepper_timeout(const millis_t ms=millis()) { previous_move_ms = ms; }
|
|
FORCE_INLINE static bool stepper_max_timed_out(const millis_t ms=millis()) {
|
|
return max_inactive_time && ELAPSED(ms, previous_move_ms + max_inactive_time);
|
|
}
|
|
FORCE_INLINE static bool stepper_inactive_timeout(const millis_t ms=millis()) {
|
|
return ELAPSED(ms, previous_move_ms + stepper_inactive_time);
|
|
}
|
|
|
|
static int8_t get_target_extruder_from_command();
|
|
static int8_t get_target_e_stepper_from_command();
|
|
static void get_destination_from_command();
|
|
|
|
static void process_parsed_command(const bool no_ok=false);
|
|
static void process_next_command();
|
|
|
|
// Execute G-code in-place, preserving current G-code parameters
|
|
static void process_subcommands_now_P(PGM_P pgcode);
|
|
static void process_subcommands_now(char * gcode);
|
|
|
|
static inline void home_all_axes() {
|
|
extern const char G28_STR[];
|
|
process_subcommands_now_P(G28_STR);
|
|
}
|
|
|
|
#if EITHER(HAS_AUTO_REPORTING, HOST_KEEPALIVE_FEATURE)
|
|
static bool autoreport_paused;
|
|
static inline bool set_autoreport_paused(const bool p) {
|
|
const bool was = autoreport_paused;
|
|
autoreport_paused = p;
|
|
return was;
|
|
}
|
|
#else
|
|
static constexpr bool autoreport_paused = false;
|
|
static inline bool set_autoreport_paused(const bool) { return false; }
|
|
#endif
|
|
|
|
#if ENABLED(HOST_KEEPALIVE_FEATURE)
|
|
/**
|
|
* States for managing Marlin and host communication
|
|
* Marlin sends messages if blocked or busy
|
|
*/
|
|
enum MarlinBusyState : char {
|
|
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;
|
|
static uint8_t host_keepalive_interval;
|
|
|
|
static void host_keepalive();
|
|
|
|
#define KEEPALIVE_STATE(N) REMEMBER(_KA_, gcode.busy_state, gcode.N)
|
|
#else
|
|
#define KEEPALIVE_STATE(N) NOOP
|
|
#endif
|
|
|
|
static void dwell(millis_t time);
|
|
|
|
private:
|
|
|
|
TERN_(MARLIN_DEV_MODE, static void D(const int16_t dcode));
|
|
|
|
static void G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move=false));
|
|
|
|
TERN_(ARC_SUPPORT, static void G2_G3(const bool clockwise));
|
|
|
|
static void G4();
|
|
|
|
TERN_(BEZIER_CURVE_SUPPORT, static void G5());
|
|
|
|
TERN_(DIRECT_STEPPING, static void G6());
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
static void G10();
|
|
static void G11();
|
|
#endif
|
|
|
|
TERN_(NOZZLE_CLEAN_FEATURE, static void G12());
|
|
|
|
#if ENABLED(CNC_WORKSPACE_PLANES)
|
|
static void G17();
|
|
static void G18();
|
|
static void G19();
|
|
#endif
|
|
|
|
#if ENABLED(INCH_MODE_SUPPORT)
|
|
static void G20();
|
|
static void G21();
|
|
#endif
|
|
|
|
TERN_(G26_MESH_VALIDATION, static void G26());
|
|
|
|
TERN_(NOZZLE_PARK_FEATURE, static void G27());
|
|
|
|
static void G28();
|
|
|
|
#if HAS_LEVELING
|
|
#if ENABLED(G29_RETRY_AND_RECOVER)
|
|
static void G29_with_retry();
|
|
#define G29_TYPE bool
|
|
#else
|
|
#define G29_TYPE void
|
|
#endif
|
|
static G29_TYPE G29();
|
|
#endif
|
|
|
|
#if HAS_BED_PROBE
|
|
static void G30();
|
|
#if ENABLED(Z_PROBE_SLED)
|
|
static void G31();
|
|
static void G32();
|
|
#endif
|
|
#endif
|
|
|
|
TERN_(DELTA_AUTO_CALIBRATION, static void G33());
|
|
|
|
#if ANY(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
|
|
static void G34();
|
|
#endif
|
|
|
|
TERN_(Z_STEPPER_AUTO_ALIGN, static void M422());
|
|
|
|
TERN_(ASSISTED_TRAMMING, static void G35());
|
|
|
|
TERN_(G38_PROBE_TARGET, static void G38(const int8_t subcode));
|
|
|
|
TERN_(HAS_MESH, static void G42());
|
|
|
|
#if ENABLED(CNC_COORDINATE_SYSTEMS)
|
|
static void G53();
|
|
static void G54();
|
|
static void G55();
|
|
static void G56();
|
|
static void G57();
|
|
static void G58();
|
|
static void G59();
|
|
#endif
|
|
|
|
TERN_(PROBE_TEMP_COMPENSATION, static void G76());
|
|
|
|
#if SAVED_POSITIONS
|
|
static void G60();
|
|
static void G61();
|
|
#endif
|
|
|
|
TERN_(GCODE_MOTION_MODES, static void G80());
|
|
|
|
static void G92();
|
|
|
|
TERN_(CALIBRATION_GCODE, static void G425());
|
|
|
|
TERN_(HAS_RESUME_CONTINUE, static void M0_M1());
|
|
|
|
#if HAS_CUTTER
|
|
static void M3_M4(const bool is_M4);
|
|
static void M5();
|
|
#endif
|
|
|
|
#if ENABLED(COOLANT_CONTROL)
|
|
TERN_(COOLANT_MIST, static void M7());
|
|
TERN_(COOLANT_FLOOD, static void M8());
|
|
static void M9();
|
|
#endif
|
|
|
|
TERN_(EXTERNAL_CLOSED_LOOP_CONTROLLER, static void M12());
|
|
|
|
TERN_(EXPECTED_PRINTER_CHECK, static void M16());
|
|
|
|
static void M17();
|
|
|
|
static void M18_M84();
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
static void M20();
|
|
static void M21();
|
|
static void M22();
|
|
static void M23();
|
|
static void M24();
|
|
static void M25();
|
|
static void M26();
|
|
static void M27();
|
|
static void M28();
|
|
static void M29();
|
|
static void M30();
|
|
#endif
|
|
|
|
static void M31();
|
|
|
|
#if ENABLED(SDSUPPORT)
|
|
TERN_(HAS_MEDIA_SUBCALLS, static void M32());
|
|
TERN_(LONG_FILENAME_HOST_SUPPORT, static void M33());
|
|
#if BOTH(SDCARD_SORT_ALPHA, SDSORT_GCODE)
|
|
static void M34();
|
|
#endif
|
|
#endif
|
|
|
|
TERN_(DIRECT_PIN_CONTROL, static void M42());
|
|
TERN_(PINS_DEBUGGING, static void M43());
|
|
|
|
TERN_(Z_MIN_PROBE_REPEATABILITY_TEST, static void M48());
|
|
|
|
TERN_(LCD_SET_PROGRESS_MANUALLY, static void M73());
|
|
|
|
static void M75();
|
|
static void M76();
|
|
static void M77();
|
|
|
|
TERN_(PRINTCOUNTER, static void M78());
|
|
|
|
TERN_(PSU_CONTROL, static void M80());
|
|
|
|
static void M81();
|
|
static void M82();
|
|
static void M83();
|
|
static void M85();
|
|
static void M92();
|
|
|
|
TERN_(M100_FREE_MEMORY_WATCHER, static void M100());
|
|
|
|
#if EXTRUDERS
|
|
static void M104();
|
|
static void M109();
|
|
#endif
|
|
|
|
static void M105();
|
|
|
|
#if HAS_FAN
|
|
static void M106();
|
|
static void M107();
|
|
#endif
|
|
|
|
#if DISABLED(EMERGENCY_PARSER)
|
|
static void M108();
|
|
static void M112();
|
|
static void M410();
|
|
TERN_(HOST_PROMPT_SUPPORT, static void M876());
|
|
#endif
|
|
|
|
static void M110();
|
|
static void M111();
|
|
|
|
TERN_(HOST_KEEPALIVE_FEATURE, static void M113());
|
|
|
|
static void M114();
|
|
static void M115();
|
|
static void M117();
|
|
static void M118();
|
|
static void M119();
|
|
static void M120();
|
|
static void M121();
|
|
|
|
TERN_(PARK_HEAD_ON_PAUSE, static void M125());
|
|
|
|
#if ENABLED(BARICUDA)
|
|
#if HAS_HEATER_1
|
|
static void M126();
|
|
static void M127();
|
|
#endif
|
|
#if HAS_HEATER_2
|
|
static void M128();
|
|
static void M129();
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_HEATED_BED
|
|
static void M140();
|
|
static void M190();
|
|
#endif
|
|
|
|
#if HAS_HEATED_CHAMBER
|
|
static void M141();
|
|
static void M191();
|
|
#endif
|
|
|
|
#if PREHEAT_COUNT
|
|
static void M145();
|
|
#endif
|
|
|
|
TERN_(TEMPERATURE_UNITS_SUPPORT, static void M149());
|
|
|
|
TERN_(HAS_COLOR_LEDS, static void M150());
|
|
|
|
#if BOTH(AUTO_REPORT_TEMPERATURES, HAS_TEMP_SENSOR)
|
|
static void M155();
|
|
#endif
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
static void M163();
|
|
static void M164();
|
|
TERN_(DIRECT_MIXING_IN_G1, static void M165());
|
|
TERN_(GRADIENT_MIX, static void M166());
|
|
#endif
|
|
|
|
static void M200();
|
|
static void M201();
|
|
|
|
#if 0
|
|
static void M202(); // Not used for Sprinter/grbl gen6
|
|
#endif
|
|
|
|
static void M203();
|
|
static void M204();
|
|
static void M205();
|
|
|
|
TERN_(HAS_M206_COMMAND, static void M206());
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
static void M207();
|
|
static void M208();
|
|
TERN_(FWRETRACT_AUTORETRACT, static void M209());
|
|
#endif
|
|
|
|
static void M211();
|
|
|
|
TERN_(HAS_MULTI_EXTRUDER, static void M217());
|
|
|
|
TERN_(HAS_HOTEND_OFFSET, static void M218());
|
|
|
|
static void M220();
|
|
|
|
#if EXTRUDERS
|
|
static void M221();
|
|
#endif
|
|
|
|
TERN_(DIRECT_PIN_CONTROL, static void M226());
|
|
|
|
TERN_(PHOTO_GCODE, static void M240());
|
|
|
|
TERN_(HAS_LCD_CONTRAST, static void M250());
|
|
|
|
#if ENABLED(EXPERIMENTAL_I2CBUS)
|
|
static void M260();
|
|
static void M261();
|
|
#endif
|
|
|
|
#if HAS_SERVOS
|
|
static void M280();
|
|
TERN_(EDITABLE_SERVO_ANGLES, static void M281());
|
|
#endif
|
|
|
|
TERN_(BABYSTEPPING, static void M290());
|
|
|
|
TERN_(HAS_BUZZER, static void M300());
|
|
|
|
TERN_(PIDTEMP, static void M301());
|
|
|
|
TERN_(PREVENT_COLD_EXTRUSION, static void M302());
|
|
|
|
TERN_(HAS_PID_HEATING, static void M303());
|
|
|
|
TERN_(PIDTEMPBED, static void M304());
|
|
|
|
TERN_(HAS_USER_THERMISTORS, static void M305());
|
|
|
|
#if HAS_MICROSTEPS
|
|
static void M350();
|
|
static void M351();
|
|
#endif
|
|
|
|
TERN_(CASE_LIGHT_ENABLE, static void M355());
|
|
|
|
TERN_(REPETIER_GCODE_M360, static void M360());
|
|
|
|
#if ENABLED(MORGAN_SCARA)
|
|
static bool M360();
|
|
static bool M361();
|
|
static bool M362();
|
|
static bool M363();
|
|
static bool M364();
|
|
#endif
|
|
|
|
#if EITHER(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL)
|
|
static void M380();
|
|
static void M381();
|
|
#endif
|
|
|
|
static void M400();
|
|
|
|
#if HAS_BED_PROBE
|
|
static void M401();
|
|
static void M402();
|
|
#endif
|
|
|
|
TERN_(HAS_PRUSA_MMU2, static void M403());
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
static void M404();
|
|
static void M405();
|
|
static void M406();
|
|
static void M407();
|
|
#endif
|
|
|
|
TERN_(HAS_FILAMENT_SENSOR, static void M412());
|
|
|
|
#if HAS_LEVELING
|
|
static void M420();
|
|
static void M421();
|
|
#endif
|
|
|
|
TERN_(BACKLASH_GCODE, static void M425());
|
|
|
|
TERN_(HAS_M206_COMMAND, static void M428());
|
|
|
|
TERN_(HAS_POWER_MONITOR, static void M430());
|
|
|
|
TERN_(CANCEL_OBJECTS, static void M486());
|
|
|
|
static void M500();
|
|
static void M501();
|
|
static void M502();
|
|
#if DISABLED(DISABLE_M503)
|
|
static void M503();
|
|
#endif
|
|
TERN_(EEPROM_SETTINGS, static void M504());
|
|
|
|
#if ENABLED(PASSWORD_FEATURE)
|
|
static void M510();
|
|
TERN_(PASSWORD_UNLOCK_GCODE, static void M511());
|
|
TERN_(PASSWORD_CHANGE_GCODE, static void M512());
|
|
#endif
|
|
|
|
TERN_(SDSUPPORT, static void M524());
|
|
|
|
TERN_(SD_ABORT_ON_ENDSTOP_HIT, static void M540());
|
|
|
|
#if HAS_ETHERNET
|
|
static void M552();
|
|
static void M553();
|
|
static void M554();
|
|
#endif
|
|
|
|
TERN_(BAUD_RATE_GCODE, static void M575());
|
|
|
|
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|
|
static void M600();
|
|
static void M603();
|
|
#endif
|
|
|
|
TERN_(HAS_DUPLICATION_MODE, static void M605());
|
|
|
|
TERN_(IS_KINEMATIC, static void M665());
|
|
|
|
#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
|
|
static void M666();
|
|
#endif
|
|
|
|
#if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
|
|
static void M672();
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
|
|
static void M701();
|
|
static void M702();
|
|
#endif
|
|
|
|
TERN_(GCODE_REPEAT_MARKERS, static void M808());
|
|
|
|
TERN_(GCODE_MACROS, static void M810_819());
|
|
|
|
TERN_(HAS_BED_PROBE, static void M851());
|
|
|
|
TERN_(SKEW_CORRECTION_GCODE, static void M852());
|
|
|
|
#if ENABLED(I2C_POSITION_ENCODERS)
|
|
FORCE_INLINE static void M860() { I2CPEM.M860(); }
|
|
FORCE_INLINE static void M861() { I2CPEM.M861(); }
|
|
FORCE_INLINE static void M862() { I2CPEM.M862(); }
|
|
FORCE_INLINE static void M863() { I2CPEM.M863(); }
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FORCE_INLINE static void M864() { I2CPEM.M864(); }
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FORCE_INLINE static void M865() { I2CPEM.M865(); }
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FORCE_INLINE static void M866() { I2CPEM.M866(); }
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FORCE_INLINE static void M867() { I2CPEM.M867(); }
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FORCE_INLINE static void M868() { I2CPEM.M868(); }
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FORCE_INLINE static void M869() { I2CPEM.M869(); }
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#endif
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#if ENABLED(PROBE_TEMP_COMPENSATION)
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static void M192();
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static void M871();
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#endif
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TERN_(LIN_ADVANCE, static void M900());
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#if HAS_TRINAMIC_CONFIG
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static void M122();
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static void M906();
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TERN_(HAS_STEALTHCHOP, static void M569());
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#if ENABLED(MONITOR_DRIVER_STATUS)
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static void M911();
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static void M912();
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#endif
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TERN_(HYBRID_THRESHOLD, static void M913());
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TERN_(USE_SENSORLESS, static void M914());
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#endif
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#if HAS_L64XX
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static void M122();
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static void M906();
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static void M916();
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static void M917();
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static void M918();
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#endif
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#if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_I2C, HAS_MOTOR_CURRENT_DAC)
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static void M907();
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#if EITHER(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_DAC)
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static void M908();
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#if ENABLED(HAS_MOTOR_CURRENT_DAC)
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static void M909();
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static void M910();
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#endif
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#endif
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#endif
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TERN_(SDSUPPORT, static void M928());
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TERN_(MAGNETIC_PARKING_EXTRUDER, static void M951());
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TERN_(TOUCH_SCREEN_CALIBRATION, static void M995());
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#if BOTH(HAS_SPI_FLASH, SDSUPPORT)
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static void M993();
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static void M994();
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#endif
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TERN_(PLATFORM_M997_SUPPORT, static void M997());
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static void M999();
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#if ENABLED(POWER_LOSS_RECOVERY)
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static void M413();
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static void M1000();
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#endif
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TERN_(SDSUPPORT, static void M1001());
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TERN_(MAX7219_GCODE, static void M7219());
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TERN_(CONTROLLER_FAN_EDITABLE, static void M710());
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static void T(const int8_t tool_index);
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};
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extern GcodeSuite gcode;
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