Initial split-up of G-code handlers by category

Marlin/src/gcode/feature/advance/M900.h

@@ -0,0 +1,52 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M900: Set and/or Get advance K factor and WH/D ratio
+ *
+ *  K<factor>                  Set advance K factor
+ *  R<ratio>                   Set ratio directly (overrides WH/D)
+ *  W<width> H<height> D<diam> Set ratio from WH/D
+ */
+void gcode_M900() {
+  stepper.synchronize();
+
+  const float newK = parser.floatval('K', -1);
+  if (newK >= 0) planner.extruder_advance_k = newK;
+
+  float newR = parser.floatval('R', -1);
+  if (newR < 0) {
+    const float newD = parser.floatval('D', -1),
+                newW = parser.floatval('W', -1),
+                newH = parser.floatval('H', -1);
+    if (newD >= 0 && newW >= 0 && newH >= 0)
+      newR = newD ? (newW * newH) / (sq(newD * 0.5) * M_PI) : 0;
+  }
+  if (newR >= 0) planner.advance_ed_ratio = newR;
+
+  SERIAL_ECHO_START();
+  SERIAL_ECHOPAIR("Advance K=", planner.extruder_advance_k);
+  SERIAL_ECHOPGM(" E/D=");
+  const float ratio = planner.advance_ed_ratio;
+  if (ratio) SERIAL_ECHO(ratio); else SERIAL_ECHOPGM("Auto");
+  SERIAL_EOL();
+}

Marlin/src/gcode/feature/baricuda/M126.h

@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M126: Heater 1 valve open
+ */
+void gcode_M126() {
+
+  baricuda_valve_pressure = parser.byteval('S', 255);
+
+}

Marlin/src/gcode/feature/baricuda/M127.h

@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M127: Heater 1 valve close
+ */
+void gcode_M127() {
+
+  baricuda_valve_pressure = 0;
+
+}

Marlin/src/gcode/feature/baricuda/M128.h

@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M128: Heater 2 valve open
+ */
+void gcode_M128() {
+
+  baricuda_e_to_p_pressure = parser.byteval('S', 255);
+
+}

Marlin/src/gcode/feature/baricuda/M129.h

@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M129: Heater 2 valve close
+ */
+void gcode_M129() {
+
+  baricuda_e_to_p_pressure = 0;
+
+}

Marlin/src/gcode/feature/camera/M240.h

@@ -0,0 +1,53 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M240: Trigger a camera by emulating a Canon RC-1
+ *       See http://www.doc-diy.net/photo/rc-1_hacked/
+ */
+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
+}

Marlin/src/gcode/feature/caselight/M355.h

@@ -0,0 +1,77 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#if HAS_CASE_LIGHT
+
+  #ifndef INVERT_CASE_LIGHT
+    #define INVERT_CASE_LIGHT false
+  #endif
+  int case_light_brightness;  // LCD routine wants INT
+  bool case_light_on;
+
+  void update_case_light() {
+    pinMode(CASE_LIGHT_PIN, OUTPUT); // digitalWrite doesn't set the port mode
+    uint8_t case_light_bright = (uint8_t)case_light_brightness;
+    if (case_light_on) {
+      if (USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) {
+        analogWrite(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? 255 - case_light_brightness : case_light_brightness );
+      }
+      else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? LOW : HIGH);
+    }
+    else WRITE(CASE_LIGHT_PIN, INVERT_CASE_LIGHT ? HIGH : LOW);
+  }
+
+#endif // HAS_CASE_LIGHT
+
+/**
+ * M355: Turn case light on/off and set brightness
+ *
+ *   P<byte>  Set case light brightness (PWM pin required - ignored otherwise)
+ *
+ *   S<bool>  Set case light on/off
+ *
+ *   When S turns on the light on a PWM pin then the current brightness level is used/restored
+ *
+ *   M355 P200 S0 turns off the light & sets the brightness level
+ *   M355 S1 turns on the light with a brightness of 200 (assuming a PWM pin)
+ */
+void gcode_M355() {
+  #if HAS_CASE_LIGHT
+    uint8_t args = 0;
+    if (parser.seenval('P')) ++args, case_light_brightness = parser.value_byte();
+    if (parser.seenval('S')) ++args, case_light_on = parser.value_bool();
+    if (args) update_case_light();
+
+    // always report case light status
+    SERIAL_ECHO_START();
+    if (!case_light_on) {
+      SERIAL_ECHOLN("Case light: off");
+    }
+    else {
+      if (!USEABLE_HARDWARE_PWM(CASE_LIGHT_PIN)) SERIAL_ECHOLN("Case light: on");
+      else SERIAL_ECHOLNPAIR("Case light: ", case_light_brightness);
+    }
+  #else
+    SERIAL_ERROR_START();
+    SERIAL_ERRORLNPGM(MSG_ERR_M355_NONE);
+  #endif
+}

Marlin/src/gcode/feature/clean/G12.h

@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G12: Clean the nozzle
+ */
+void gcode_G12() {
+  // Don't allow nozzle cleaning without homing first
+  if (axis_unhomed_error()) return;
+
+  const uint8_t pattern = parser.ushortval('P', 0),
+                strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES),
+                objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES);
+  const float radius = parser.floatval('R', NOZZLE_CLEAN_CIRCLE_RADIUS);
+
+  Nozzle::clean(pattern, strokes, radius, objects);
+}

Marlin/src/gcode/feature/digipot/M907.h

@@ -0,0 +1,61 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
+ */
+void gcode_M907() {
+  #if HAS_DIGIPOTSS
+
+    LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.digipot_current(i, parser.value_int());
+    if (parser.seen('B')) stepper.digipot_current(4, parser.value_int());
+    if (parser.seen('S')) for (uint8_t i = 0; i <= 4; i++) stepper.digipot_current(i, parser.value_int());
+
+  #elif HAS_MOTOR_CURRENT_PWM
+
+    #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY)
+      if (parser.seen('X')) stepper.digipot_current(0, parser.value_int());
+    #endif
+    #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z)
+      if (parser.seen('Z')) stepper.digipot_current(1, parser.value_int());
+    #endif
+    #if PIN_EXISTS(MOTOR_CURRENT_PWM_E)
+      if (parser.seen('E')) stepper.digipot_current(2, parser.value_int());
+    #endif
+
+  #endif
+
+  #if ENABLED(DIGIPOT_I2C)
+    // this one uses actual amps in floating point
+    LOOP_XYZE(i) if (parser.seen(axis_codes[i])) digipot_i2c_set_current(i, parser.value_float());
+    // for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
+    for (uint8_t i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (parser.seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, parser.value_float());
+  #endif
+
+  #if ENABLED(DAC_STEPPER_CURRENT)
+    if (parser.seen('S')) {
+      const float dac_percent = parser.value_float();
+      for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
+    }
+    LOOP_XYZE(i) if (parser.seen(axis_codes[i])) dac_current_percent(i, parser.value_float());
+  #endif
+}

Marlin/src/gcode/feature/digipot/M908.h

@@ -0,0 +1,39 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M908: Control digital trimpot directly (M908 P<pin> S<current>)
+ */
+void gcode_M908() {
+  #if HAS_DIGIPOTSS
+    stepper.digitalPotWrite(
+      parser.intval('P'),
+      parser.intval('S')
+    );
+  #endif
+  #ifdef DAC_STEPPER_CURRENT
+    dac_current_raw(
+      parser.byteval('P', -1),
+      parser.ushortval('S', 0)
+    );
+  #endif
+}

Marlin/src/gcode/feature/digipot/M909.h

@@ -0,0 +1,27 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void gcode_M909() {
+
+  dac_print_values();
+
+}

Marlin/src/gcode/feature/digipot/M910.h

@@ -0,0 +1,27 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+void gcode_M910() {
+
+  dac_commit_eeprom();
+
+}

Marlin/src/gcode/feature/fwretract/G10_G11.h

@@ -0,0 +1,41 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G10 - Retract filament according to settings of M207
+ */
+void gcode_G10() {
+  #if EXTRUDERS > 1
+    const bool rs = parser.boolval('S');
+    retracted_swap[active_extruder] = rs; // Use 'S' for swap, default to false
+  #endif
+  retract(true
+    #if EXTRUDERS > 1
+      , rs
+    #endif
+  );
+}
+
+/**
+ * G11 - Recover filament according to settings of M208
+ */
+void gcode_G11() { retract(false); }

Marlin/src/gcode/feature/fwretract/M207.h

@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M207: Set firmware retraction values
+ *
+ *   S[+units]    retract_length
+ *   W[+units]    swap_retract_length (multi-extruder)
+ *   F[units/min] retract_feedrate_mm_s
+ *   Z[units]     retract_zlift
+ */
+void gcode_M207() {
+  if (parser.seen('S')) retract_length = parser.value_axis_units(E_AXIS);
+  if (parser.seen('F')) retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
+  if (parser.seen('Z')) retract_zlift = parser.value_linear_units();
+  if (parser.seen('W')) swap_retract_length = parser.value_axis_units(E_AXIS);
+}

Marlin/src/gcode/feature/fwretract/M208.h

@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M208: Set firmware un-retraction values
+ *
+ *   S[+units]    retract_recover_length (in addition to M207 S*)
+ *   W[+units]    swap_retract_recover_length (multi-extruder)
+ *   F[units/min] retract_recover_feedrate_mm_s
+ *   R[units/min] swap_retract_recover_feedrate_mm_s
+ */
+void gcode_M208() {
+  if (parser.seen('S')) retract_recover_length = parser.value_axis_units(E_AXIS);
+  if (parser.seen('F')) retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
+  if (parser.seen('R')) swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
+  if (parser.seen('W')) swap_retract_recover_length = parser.value_axis_units(E_AXIS);
+}

Marlin/src/gcode/feature/fwretract/M209.h

@@ -0,0 +1,35 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M209: Enable automatic retract (M209 S1)
+ *   For slicers that don't support G10/11, reversed extrude-only
+ *   moves will be classified as retraction.
+ */
+void gcode_M209() {
+  if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
+    if (parser.seen('S')) {
+      autoretract_enabled = parser.value_bool();
+      for (uint8_t i = 0; i < EXTRUDERS; i++) retracted[i] = false;
+    }
+  }
+}

Marlin/src/gcode/feature/i2c/M260_M261.h

@@ -0,0 +1,70 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M260: Send data to a I2C slave device
+ *
+ * This is a PoC, the formating and arguments for the GCODE will
+ * change to be more compatible, the current proposal is:
+ *
+ *  M260 A<slave device address base 10> ; Sets the I2C slave address the data will be sent to
+ *
+ *  M260 B<byte-1 value in base 10>
+ *  M260 B<byte-2 value in base 10>
+ *  M260 B<byte-3 value in base 10>
+ *
+ *  M260 S1 ; Send the buffered data and reset the buffer
+ *  M260 R1 ; Reset the buffer without sending data
+ *
+ */
+void gcode_M260() {
+  // Set the target address
+  if (parser.seen('A')) i2c.address(parser.value_byte());
+
+  // Add a new byte to the buffer
+  if (parser.seen('B')) i2c.addbyte(parser.value_byte());
+
+  // Flush the buffer to the bus
+  if (parser.seen('S')) i2c.send();
+
+  // Reset and rewind the buffer
+  else if (parser.seen('R')) i2c.reset();
+}
+
+/**
+ * M261: Request X bytes from I2C slave device
+ *
+ * Usage: M261 A<slave device address base 10> B<number of bytes>
+ */
+void gcode_M261() {
+  if (parser.seen('A')) i2c.address(parser.value_byte());
+
+  uint8_t bytes = parser.byteval('B', 1);
+
+  if (i2c.addr && bytes && bytes <= TWIBUS_BUFFER_SIZE) {
+    i2c.relay(bytes);
+  }
+  else {
+    SERIAL_ERROR_START();
+    SERIAL_ERRORLN("Bad i2c request");
+  }
+}

Marlin/src/gcode/feature/leds/M150.h

@@ -0,0 +1,46 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M150: Set Status LED Color - Use R-U-B-W for R-G-B-W
+ *
+ * Always sets all 3 or 4 components. If a component is left out, set to 0.
+ *
+ * Examples:
+ *
+ *   M150 R255       ; Turn LED red
+ *   M150 R255 U127  ; Turn LED orange (PWM only)
+ *   M150            ; Turn LED off
+ *   M150 R U B      ; Turn LED white
+ *   M150 W          ; Turn LED white using a white LED
+ *
+ */
+void gcode_M150() {
+  set_led_color(
+    parser.seen('R') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
+    parser.seen('U') ? (parser.has_value() ? parser.value_byte() : 255) : 0,
+    parser.seen('B') ? (parser.has_value() ? parser.value_byte() : 255) : 0
+    #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_RGBW_LED)
+      , parser.seen('W') ? (parser.has_value() ? parser.value_byte() : 255) : 0
+    #endif
+  );
+}

Marlin/src/gcode/feature/mixing/M163.h

@@ -0,0 +1,38 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M163: Set a single mix factor for a mixing extruder
+ *       This is called "weight" by some systems.
+ *
+ *   S[index]   The channel index to set
+ *   P[float]   The mix value
+ *
+ */
+void gcode_M163() {
+  const int mix_index = parser.intval('S');
+  if (mix_index < MIXING_STEPPERS) {
+    float mix_value = parser.floatval('P');
+    NOLESS(mix_value, 0.0);
+    mixing_factor[mix_index] = RECIPROCAL(mix_value);
+  }
+}

Marlin/src/gcode/feature/mixing/M164.h

@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M164: Store the current mix factors as a virtual tool.
+ *
+ *   S[index]   The virtual tool to store
+ *
+ */
+void gcode_M164() {
+  const int tool_index = parser.intval('S');
+  if (tool_index < MIXING_VIRTUAL_TOOLS) {
+    normalize_mix();
+    for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
+      mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
+  }
+}

Marlin/src/gcode/feature/mixing/M165.h

@@ -0,0 +1,36 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * M165: Set multiple mix factors for a mixing extruder.
+ *       Factors that are left out will be set to 0.
+ *       All factors together must add up to 1.0.
+ *
+ *   A[factor] Mix factor for extruder stepper 1
+ *   B[factor] Mix factor for extruder stepper 2
+ *   C[factor] Mix factor for extruder stepper 3
+ *   D[factor] Mix factor for extruder stepper 4
+ *   H[factor] Mix factor for extruder stepper 5
+ *   I[factor] Mix factor for extruder stepper 6
+ *
+ */
+void gcode_M165() { gcode_get_mix(); }

Marlin/src/gcode/feature/pause/G27.h

@@ -0,0 +1,30 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * G27: Park the nozzle
+ */
+void gcode_G27() {
+  // Don't allow nozzle parking without homing first
+  if (axis_unhomed_error()) return;
+  Nozzle::park(parser.ushortval('P'));
+}

Marlin/src/gcode/feature/pause/M125.h

@@ -0,0 +1,89 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "common.h"
+
+/**
+ * M125: Store current position and move to filament change position.
+ *       Called on pause (by M25) to prevent material leaking onto the
+ *       object. On resume (M24) the head will be moved back and the
+ *       print will resume.
+ *
+ *       If Marlin is compiled without SD Card support, M125 can be
+ *       used directly to pause the print and move to park position,
+ *       resuming with a button click or M108.
+ *
+ *    L = override retract length
+ *    X = override X
+ *    Y = override Y
+ *    Z = override Z raise
+ */
+void gcode_M125() {
+
+  // Initial retract before move to filament change position
+  const float retract = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
+    #ifdef PAUSE_PARK_RETRACT_LENGTH
+      - (PAUSE_PARK_RETRACT_LENGTH)
+    #endif
+  ;
+
+  // Lift Z axis
+  const float z_lift = parser.linearval('Z')
+    #ifdef PAUSE_PARK_Z_ADD
+      + PAUSE_PARK_Z_ADD
+    #endif
+  ;
+
+  // Move XY axes to filament change position or given position
+  const float x_pos = parser.linearval('X')
+    #ifdef PAUSE_PARK_X_POS
+      + PAUSE_PARK_X_POS
+    #endif
+    #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
+      + (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0)
+    #endif
+  ;
+  const float y_pos = parser.linearval('Y')
+    #ifdef PAUSE_PARK_Y_POS
+      + PAUSE_PARK_Y_POS
+    #endif
+    #if HOTENDS > 1 && DISABLED(DUAL_X_CARRIAGE)
+      + (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0)
+    #endif
+  ;
+
+  #if DISABLED(SDSUPPORT)
+    const bool job_running = print_job_timer.isRunning();
+  #endif
+
+  if (pause_print(retract, z_lift, x_pos, y_pos)) {
+    #if DISABLED(SDSUPPORT)
+      // Wait for lcd click or M108
+      wait_for_filament_reload();
+
+      // Return to print position and continue
+      resume_print();
+
+      if (job_running) print_job_timer.start();
+    #endif
+  }
+}

Marlin/src/gcode/feature/pause/M600.h

@@ -0,0 +1,103 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "common.h"
+
+/**
+ * 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
+ *  U[distance] - Retract distance for removal (negative value) (manual reload)
+ *  L[distance] - Extrude distance for insertion (positive value) (manual reload)
+ *  B[count]    - Number of times to beep, -1 for indefinite (if equipped with a buzzer)
+ *
+ *  Default values are used for omitted arguments.
+ *
+ */
+void gcode_M600() {
+
+  #if ENABLED(HOME_BEFORE_FILAMENT_CHANGE)
+    // Don't allow filament change without homing first
+    if (axis_unhomed_error()) home_all_axes();
+  #endif
+
+  // Initial retract before move to filament change position
+  const float retract = parser.seen('E') ? parser.value_axis_units(E_AXIS) : 0
+    #ifdef PAUSE_PARK_RETRACT_LENGTH
+      - (PAUSE_PARK_RETRACT_LENGTH)
+    #endif
+  ;
+
+  // Lift Z axis
+  const float z_lift = parser.linearval('Z', 0
+    #ifdef PAUSE_PARK_Z_ADD
+      + PAUSE_PARK_Z_ADD
+    #endif
+  );
+
+  // Move XY axes to filament exchange position
+  const float x_pos = parser.linearval('X', 0
+    #ifdef PAUSE_PARK_X_POS
+      + PAUSE_PARK_X_POS
+    #endif
+  );
+  const float y_pos = parser.linearval('Y', 0
+    #ifdef PAUSE_PARK_Y_POS
+      + PAUSE_PARK_Y_POS
+    #endif
+  );
+
+  // Unload filament
+  const float unload_length = parser.seen('U') ? parser.value_axis_units(E_AXIS) : 0
+    #if defined(FILAMENT_CHANGE_UNLOAD_LENGTH) && FILAMENT_CHANGE_UNLOAD_LENGTH > 0
+      - (FILAMENT_CHANGE_UNLOAD_LENGTH)
+    #endif
+  ;
+
+  // Load filament
+  const float load_length = parser.seen('L') ? parser.value_axis_units(E_AXIS) : 0
+    #ifdef FILAMENT_CHANGE_LOAD_LENGTH
+      + FILAMENT_CHANGE_LOAD_LENGTH
+    #endif
+  ;
+
+  const int beep_count = parser.intval('B',
+    #ifdef FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
+      FILAMENT_CHANGE_NUMBER_OF_ALERT_BEEPS
+    #else
+      -1
+    #endif
+  );
+
+  const bool job_running = print_job_timer.isRunning();
+
+  if (pause_print(retract, z_lift, x_pos, y_pos, unload_length, beep_count, true)) {
+    wait_for_filament_reload(beep_count);
+    resume_print(load_length, ADVANCED_PAUSE_EXTRUDE_LENGTH, beep_count);
+  }
+
+  // Resume the print job timer if it was running
+  if (job_running) print_job_timer.start();
+}

Marlin/src/gcode/feature/pause/common.h

@@ -0,0 +1,335 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * feature/pause/common.h - Merge this with its G-codes in the refactor
+ */
+
+#ifndef PAUSE_COMMON_H
+#define PAUSE_COMMON_H
+
+#if IS_KINEMATIC
+  #define RUNPLAN(RATE_MM_S) planner.buffer_line_kinematic(destination, RATE_MM_S, active_extruder)
+#else
+  #define RUNPLAN(RATE_MM_S) line_to_destination(RATE_MM_S)
+#endif
+
+static float resume_position[XYZE];
+static bool move_away_flag = false;
+#if ENABLED(SDSUPPORT)
+  static bool sd_print_paused = false;
+#endif
+
+static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
+  static millis_t next_buzz = 0;
+  static int8_t runout_beep = 0;
+
+  if (init) next_buzz = runout_beep = 0;
+
+  const millis_t ms = millis();
+  if (ELAPSED(ms, next_buzz)) {
+    if (max_beep_count < 0 || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
+      next_buzz = ms + ((max_beep_count < 0 || runout_beep < max_beep_count) ? 2500 : 400);
+      BUZZ(300, 2000);
+      runout_beep++;
+    }
+  }
+}
+
+static void ensure_safe_temperature() {
+  bool heaters_heating = true;
+
+  wait_for_heatup = true;    // M108 will clear this
+  while (wait_for_heatup && heaters_heating) {
+    idle();
+    heaters_heating = false;
+    HOTEND_LOOP() {
+      if (thermalManager.degTargetHotend(e) && abs(thermalManager.degHotend(e) - thermalManager.degTargetHotend(e)) > TEMP_HYSTERESIS) {
+        heaters_heating = true;
+        #if ENABLED(ULTIPANEL)
+          lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_WAIT_FOR_NOZZLES_TO_HEAT);
+        #endif
+        break;
+      }
+    }
+  }
+}
+
+static bool pause_print(const float &retract, const float &z_lift, const float &x_pos, const float &y_pos,
+                        const float &unload_length = 0 , const int8_t max_beep_count = 0, const bool show_lcd = false
+) {
+  if (move_away_flag) return false; // already paused
+
+  if (!DEBUGGING(DRYRUN) && (unload_length != 0 || retract != 0)) {
+    #if ENABLED(PREVENT_COLD_EXTRUSION)
+      if (!thermalManager.allow_cold_extrude &&
+          thermalManager.degTargetHotend(active_extruder) < thermalManager.extrude_min_temp) {
+        SERIAL_ERROR_START();
+        SERIAL_ERRORLNPGM(MSG_TOO_COLD_FOR_M600);
+        return false;
+      }
+    #endif
+
+    ensure_safe_temperature(); // wait for extruder to heat up before unloading
+  }
+
+  // Indicate that the printer is paused
+  move_away_flag = true;
+
+  // Pause the print job and timer
+  #if ENABLED(SDSUPPORT)
+    if (IS_SD_PRINTING) {
+      card.pauseSDPrint();
+      sd_print_paused = true;
+    }
+  #endif
+  print_job_timer.pause();
+
+  // Show initial message and wait for synchronize steppers
+  if (show_lcd) {
+    #if ENABLED(ULTIPANEL)
+      lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INIT);
+    #endif
+  }
+
+  // Save current position
+  stepper.synchronize();
+  COPY(resume_position, current_position);
+
+  if (retract) {
+    // Initial retract before move to filament change position
+    set_destination_to_current();
+    destination[E_AXIS] += retract;
+    RUNPLAN(PAUSE_PARK_RETRACT_FEEDRATE);
+    stepper.synchronize();
+  }
+
+  // Lift Z axis
+  if (z_lift > 0)
+    do_blocking_move_to_z(current_position[Z_AXIS] + z_lift, PAUSE_PARK_Z_FEEDRATE);
+
+  // Move XY axes to filament exchange position
+  do_blocking_move_to_xy(x_pos, y_pos, PAUSE_PARK_XY_FEEDRATE);
+
+  if (unload_length != 0) {
+    if (show_lcd) {
+      #if ENABLED(ULTIPANEL)
+        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_UNLOAD);
+        idle();
+      #endif
+    }
+
+    // Unload filament
+    set_destination_to_current();
+    destination[E_AXIS] += unload_length;
+    RUNPLAN(FILAMENT_CHANGE_UNLOAD_FEEDRATE);
+    stepper.synchronize();
+  }
+
+  if (show_lcd) {
+    #if ENABLED(ULTIPANEL)
+      lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
+    #endif
+  }
+
+  #if HAS_BUZZER
+    filament_change_beep(max_beep_count, true);
+  #endif
+
+  idle();
+
+  // Disable extruders steppers for manual filament changing (only on boards that have separate ENABLE_PINS)
+  #if E0_ENABLE_PIN != X_ENABLE_PIN && E1_ENABLE_PIN != Y_ENABLE_PIN
+    disable_e_steppers();
+    safe_delay(100);
+  #endif
+
+  // Start the heater idle timers
+  const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
+
+  HOTEND_LOOP()
+    thermalManager.start_heater_idle_timer(e, nozzle_timeout);
+
+  return true;
+}
+
+static void wait_for_filament_reload(const int8_t max_beep_count = 0) {
+  bool nozzle_timed_out = false;
+
+  // Wait for filament insert by user and press button
+  KEEPALIVE_STATE(PAUSED_FOR_USER);
+  wait_for_user = true;    // LCD click or M108 will clear this
+  while (wait_for_user) {
+    #if HAS_BUZZER
+      filament_change_beep(max_beep_count);
+    #endif
+
+    // If the nozzle has timed out, wait for the user to press the button to re-heat the nozzle, then
+    // re-heat the nozzle, re-show the insert screen, restart the idle timers, and start over
+    if (!nozzle_timed_out)
+      HOTEND_LOOP()
+        nozzle_timed_out |= thermalManager.is_heater_idle(e);
+
+    if (nozzle_timed_out) {
+      #if ENABLED(ULTIPANEL)
+        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_CLICK_TO_HEAT_NOZZLE);
+      #endif
+
+      // Wait for LCD click or M108
+      while (wait_for_user) idle(true);
+
+      // Re-enable the heaters if they timed out
+      HOTEND_LOOP() thermalManager.reset_heater_idle_timer(e);
+
+      // Wait for the heaters to reach the target temperatures
+      ensure_safe_temperature();
+
+      #if ENABLED(ULTIPANEL)
+        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
+      #endif
+
+      // Start the heater idle timers
+      const millis_t nozzle_timeout = (millis_t)(PAUSE_PARK_NOZZLE_TIMEOUT) * 1000UL;
+
+      HOTEND_LOOP()
+        thermalManager.start_heater_idle_timer(e, nozzle_timeout);
+
+      wait_for_user = true; /* Wait for user to load filament */
+      nozzle_timed_out = false;
+
+      #if HAS_BUZZER
+        filament_change_beep(max_beep_count, true);
+      #endif
+    }
+
+    idle(true);
+  }
+  KEEPALIVE_STATE(IN_HANDLER);
+}
+
+static void resume_print(const float &load_length = 0, const float &initial_extrude_length = 0, const int8_t max_beep_count = 0) {
+  bool nozzle_timed_out = false;
+
+  if (!move_away_flag) return;
+
+  // Re-enable the heaters if they timed out
+  HOTEND_LOOP() {
+    nozzle_timed_out |= thermalManager.is_heater_idle(e);
+    thermalManager.reset_heater_idle_timer(e);
+  }
+
+  if (nozzle_timed_out) ensure_safe_temperature();
+
+  #if HAS_BUZZER
+    filament_change_beep(max_beep_count, true);
+  #endif
+
+  if (load_length != 0) {
+    #if ENABLED(ULTIPANEL)
+      // Show "insert filament"
+      if (nozzle_timed_out)
+        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_INSERT);
+    #endif
+
+    KEEPALIVE_STATE(PAUSED_FOR_USER);
+    wait_for_user = true;    // LCD click or M108 will clear this
+    while (wait_for_user && nozzle_timed_out) {
+      #if HAS_BUZZER
+        filament_change_beep(max_beep_count);
+      #endif
+      idle(true);
+    }
+    KEEPALIVE_STATE(IN_HANDLER);
+
+    #if ENABLED(ULTIPANEL)
+      // Show "load" message
+      lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_LOAD);
+    #endif
+
+    // Load filament
+    destination[E_AXIS] += load_length;
+    RUNPLAN(FILAMENT_CHANGE_LOAD_FEEDRATE);
+    stepper.synchronize();
+  }
+
+  #if ENABLED(ULTIPANEL) && ADVANCED_PAUSE_EXTRUDE_LENGTH > 0
+
+    float extrude_length = initial_extrude_length;
+
+    do {
+      if (extrude_length > 0) {
+        // "Wait for filament extrude"
+        lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_EXTRUDE);
+
+        // Extrude filament to get into hotend
+        destination[E_AXIS] += extrude_length;
+        RUNPLAN(ADVANCED_PAUSE_EXTRUDE_FEEDRATE);
+        stepper.synchronize();
+      }
+
+      // Show "Extrude More" / "Resume" menu and wait for reply
+      KEEPALIVE_STATE(PAUSED_FOR_USER);
+      wait_for_user = false;
+      lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_OPTION);
+      while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_WAIT_FOR) idle(true);
+      KEEPALIVE_STATE(IN_HANDLER);
+
+      extrude_length = ADVANCED_PAUSE_EXTRUDE_LENGTH;
+
+      // Keep looping if "Extrude More" was selected
+    } while (advanced_pause_menu_response == ADVANCED_PAUSE_RESPONSE_EXTRUDE_MORE);
+
+  #endif
+
+  #if ENABLED(ULTIPANEL)
+    // "Wait for print to resume"
+    lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_RESUME);
+  #endif
+
+  // Set extruder to saved position
+  destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS];
+  planner.set_e_position_mm(current_position[E_AXIS]);
+
+  // Move XY to starting position, then Z
+  do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], PAUSE_PARK_XY_FEEDRATE);
+  do_blocking_move_to_z(resume_position[Z_AXIS], PAUSE_PARK_Z_FEEDRATE);
+
+  #if ENABLED(FILAMENT_RUNOUT_SENSOR)
+    filament_ran_out = false;
+  #endif
+
+  #if ENABLED(ULTIPANEL)
+    // Show status screen
+    lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
+  #endif
+
+  #if ENABLED(SDSUPPORT)
+    if (sd_print_paused) {
+      card.startFileprint();
+      sd_print_paused = false;
+    }
+  #endif
+
+  move_away_flag = false;
+}
+
+#endif // PAUSE_COMMON_H

Marlin/src/gcode/feature/snmm/M702.h

@@ -0,0 +1,50 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+inline void select_multiplexed_stepper(const uint8_t e) {
+  stepper.synchronize();
+  disable_e_steppers();
+  WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
+  WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
+  WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW);
+  safe_delay(100);
+}
+
+/**
+ * M702: Unload all extruders
+ */
+void gcode_M702() {
+  for (uint8_t s = 0; s < E_STEPPERS; s++) {
+    select_multiplexed_stepper(e);
+    // TODO: standard unload filament function
+    // MK2 firmware behavior:
+    //  - Make sure temperature is high enough
+    //  - Raise Z to at least 15 to make room
+    //  - Extrude 1cm of filament in 1 second
+    //  - Under 230C quickly purge ~12mm, over 230C purge ~10mm
+    //  - Change E max feedrate to 80, eject the filament from the tube. Sync.
+    //  - Restore E max feedrate to 50
+  }
+  // Go back to the last active extruder
+  select_multiplexed_stepper(active_extruder);
+  disable_e_steppers();
+}

Marlin/src/gcode/feature/trinamic/M906.h

@@ -0,0 +1,65 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_get_current(TMC2130Stepper &st, const char name) {
+  SERIAL_CHAR(name);
+  SERIAL_ECHOPGM(" axis driver current: ");
+  SERIAL_ECHOLN(st.getCurrent());
+}
+static void tmc2130_set_current(TMC2130Stepper &st, const char name, const int mA) {
+  st.setCurrent(mA, R_SENSE, HOLD_MULTIPLIER);
+  tmc2130_get_current(st, name);
+}
+
+/**
+ * M906: Set motor current in milliamps using axis codes X, Y, Z, E
+ * Report driver currents when no axis specified
+ *
+ * S1: Enable automatic current control
+ * S0: Disable
+ */
+void gcode_M906() {
+  uint16_t values[XYZE];
+  LOOP_XYZE(i)
+    values[i] = parser.intval(axis_codes[i]);
+
+  #if ENABLED(X_IS_TMC2130)
+    if (values[X_AXIS]) tmc2130_set_current(stepperX, 'X', values[X_AXIS]);
+    else tmc2130_get_current(stepperX, 'X');
+  #endif
+  #if ENABLED(Y_IS_TMC2130)
+    if (values[Y_AXIS]) tmc2130_set_current(stepperY, 'Y', values[Y_AXIS]);
+    else tmc2130_get_current(stepperY, 'Y');
+  #endif
+  #if ENABLED(Z_IS_TMC2130)
+    if (values[Z_AXIS]) tmc2130_set_current(stepperZ, 'Z', values[Z_AXIS]);
+    else tmc2130_get_current(stepperZ, 'Z');
+  #endif
+  #if ENABLED(E0_IS_TMC2130)
+    if (values[E_AXIS]) tmc2130_set_current(stepperE0, 'E', values[E_AXIS]);
+    else tmc2130_get_current(stepperE0, 'E');
+  #endif
+
+  #if ENABLED(AUTOMATIC_CURRENT_CONTROL)
+    if (parser.seen('S')) auto_current_control = parser.value_bool();
+  #endif
+}

Marlin/src/gcode/feature/trinamic/M911.h

@@ -0,0 +1,49 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_report_otpw(TMC2130Stepper &st, const char name) {
+  SERIAL_CHAR(name);
+  SERIAL_ECHOPGM(" axis temperature prewarn triggered: ");
+  serialprintPGM(st.getOTPW() ? PSTR("true") : PSTR("false"));
+  SERIAL_EOL();
+}
+
+/**
+ * M911: Report TMC2130 stepper driver overtemperature pre-warn flag
+ * The flag is held by the library and persist until manually cleared by M912
+ */
+void gcode_M911() {
+  const bool reportX = parser.seen('X'), reportY = parser.seen('Y'), reportZ = parser.seen('Z'), reportE = parser.seen('E'),
+           reportAll = (!reportX && !reportY && !reportZ && !reportE) || (reportX && reportY && reportZ && reportE);
+  #if ENABLED(X_IS_TMC2130)
+    if (reportX || reportAll) tmc2130_report_otpw(stepperX, 'X');
+  #endif
+  #if ENABLED(Y_IS_TMC2130)
+    if (reportY || reportAll) tmc2130_report_otpw(stepperY, 'Y');
+  #endif
+  #if ENABLED(Z_IS_TMC2130)
+    if (reportZ || reportAll) tmc2130_report_otpw(stepperZ, 'Z');
+  #endif
+  #if ENABLED(E0_IS_TMC2130)
+    if (reportE || reportAll) tmc2130_report_otpw(stepperE0, 'E');
+  #endif
+}

Marlin/src/gcode/feature/trinamic/M912.h

@@ -0,0 +1,47 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_clear_otpw(TMC2130Stepper &st, const char name) {
+  st.clear_otpw();
+  SERIAL_CHAR(name);
+  SERIAL_ECHOLNPGM(" prewarn flag cleared");
+}
+
+/**
+ * M912: Clear TMC2130 stepper driver overtemperature pre-warn flag held by the library
+ */
+void gcode_M912() {
+  const bool clearX = parser.seen('X'), clearY = parser.seen('Y'), clearZ = parser.seen('Z'), clearE = parser.seen('E'),
+           clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
+  #if ENABLED(X_IS_TMC2130)
+    if (clearX || clearAll) tmc2130_clear_otpw(stepperX, 'X');
+  #endif
+  #if ENABLED(Y_IS_TMC2130)
+    if (clearY || clearAll) tmc2130_clear_otpw(stepperY, 'Y');
+  #endif
+  #if ENABLED(Z_IS_TMC2130)
+    if (clearZ || clearAll) tmc2130_clear_otpw(stepperZ, 'Z');
+  #endif
+  #if ENABLED(E0_IS_TMC2130)
+    if (clearE || clearAll) tmc2130_clear_otpw(stepperE0, 'E');
+  #endif
+}

Marlin/src/gcode/feature/trinamic/M913.h

@@ -0,0 +1,57 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_get_pwmthrs(TMC2130Stepper &st, const char name, const uint16_t spmm) {
+  SERIAL_CHAR(name);
+  SERIAL_ECHOPGM(" stealthChop max speed set to ");
+  SERIAL_ECHOLN(12650000UL * st.microsteps() / (256 * st.stealth_max_speed() * spmm));
+}
+static void tmc2130_set_pwmthrs(TMC2130Stepper &st, const char name, const int32_t thrs, const uint32_t spmm) {
+  st.stealth_max_speed(12650000UL * st.microsteps() / (256 * thrs * spmm));
+  tmc2130_get_pwmthrs(st, name, spmm);
+}
+
+/**
+ * M913: Set HYBRID_THRESHOLD speed.
+ */
+void gcode_M913() {
+  uint16_t values[XYZE];
+  LOOP_XYZE(i)
+    values[i] = parser.intval(axis_codes[i]);
+
+  #if ENABLED(X_IS_TMC2130)
+    if (values[X_AXIS]) tmc2130_set_pwmthrs(stepperX, 'X', values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
+    else tmc2130_get_pwmthrs(stepperX, 'X', planner.axis_steps_per_mm[X_AXIS]);
+  #endif
+  #if ENABLED(Y_IS_TMC2130)
+    if (values[Y_AXIS]) tmc2130_set_pwmthrs(stepperY, 'Y', values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
+    else tmc2130_get_pwmthrs(stepperY, 'Y', planner.axis_steps_per_mm[Y_AXIS]);
+  #endif
+  #if ENABLED(Z_IS_TMC2130)
+    if (values[Z_AXIS]) tmc2130_set_pwmthrs(stepperZ, 'Z', values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
+    else tmc2130_get_pwmthrs(stepperZ, 'Z', planner.axis_steps_per_mm[Z_AXIS]);
+  #endif
+  #if ENABLED(E0_IS_TMC2130)
+    if (values[E_AXIS]) tmc2130_set_pwmthrs(stepperE0, 'E', values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
+    else tmc2130_get_pwmthrs(stepperE0, 'E', planner.axis_steps_per_mm[E_AXIS]);
+  #endif
+}

Marlin/src/gcode/feature/trinamic/M914.h

@@ -0,0 +1,45 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+static void tmc2130_get_sgt(TMC2130Stepper &st, const char name) {
+  SERIAL_CHAR(name);
+  SERIAL_ECHOPGM(" driver homing sensitivity set to ");
+  SERIAL_ECHOLN(st.sgt());
+}
+static void tmc2130_set_sgt(TMC2130Stepper &st, const char name, const int8_t sgt_val) {
+  st.sgt(sgt_val);
+  tmc2130_get_sgt(st, name);
+}
+
+/**
+ * M914: Set SENSORLESS_HOMING sensitivity.
+ */
+void gcode_M914() {
+  #if ENABLED(X_IS_TMC2130)
+    if (parser.seen(axis_codes[X_AXIS])) tmc2130_set_sgt(stepperX, 'X', parser.value_int());
+    else tmc2130_get_sgt(stepperX, 'X');
+  #endif
+  #if ENABLED(Y_IS_TMC2130)
+    if (parser.seen(axis_codes[Y_AXIS])) tmc2130_set_sgt(stepperY, 'Y', parser.value_int());
+    else tmc2130_get_sgt(stepperY, 'Y');
+  #endif
+}