Initial split-up of G-code handlers by category

Marlin/src/gcode/temperature/M104.h

@@ -0,0 +1,63 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * M104: Set hot end temperature
+ */
+void gcode_M104() {
+  if (get_target_extruder_from_command(104)) return;
+  if (DEBUGGING(DRYRUN)) return;
+
+  #if ENABLED(SINGLENOZZLE)
+    if (target_extruder != active_extruder) return;
+  #endif
+
+  if (parser.seenval('S')) {
+    const int16_t temp = parser.value_celsius();
+    thermalManager.setTargetHotend(temp, target_extruder);
+
+    #if ENABLED(DUAL_X_CARRIAGE)
+      if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
+        thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
+    #endif
+
+    #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
+      /**
+       * Stop the timer at the end of print. Start is managed by 'heat and wait' M109.
+       * We use half EXTRUDE_MINTEMP here to allow nozzles to be put into hot
+       * standby mode, for instance in a dual extruder setup, without affecting
+       * the running print timer.
+       */
+      if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
+        print_job_timer.stop();
+        LCD_MESSAGEPGM(WELCOME_MSG);
+      }
+    #endif
+
+    if (parser.value_celsius() > thermalManager.degHotend(target_extruder))
+      lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
+  }
+
+  #if ENABLED(AUTOTEMP)
+    planner.autotemp_M104_M109();
+  #endif
+}

Marlin/src/gcode/temperature/M105.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/>.
+ *
+ */
+
+/**
+ * M105: Read hot end and bed temperature
+ */
+void gcode_M105() {
+  if (get_target_extruder_from_command(105)) return;
+
+  #if HAS_TEMP_HOTEND || HAS_TEMP_BED
+    SERIAL_PROTOCOLPGM(MSG_OK);
+    print_heaterstates();
+  #else // !HAS_TEMP_HOTEND && !HAS_TEMP_BED
+    SERIAL_ERROR_START();
+    SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
+  #endif
+
+  SERIAL_EOL();
+}

Marlin/src/gcode/temperature/M106.h

@@ -0,0 +1,34 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * M106: Set Fan Speed
+ *
+ *  S<int>   Speed between 0-255
+ *  P<index> Fan index, if more than one fan
+ */
+void gcode_M106() {
+  uint16_t s = parser.ushortval('S', 255);
+  NOMORE(s, 255);
+  const uint8_t p = parser.byteval('P', 0);
+  if (p < FAN_COUNT) fanSpeeds[p] = s;
+}

Marlin/src/gcode/temperature/M107.h

@@ -0,0 +1,29 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * M107: Fan Off
+ */
+void gcode_M107() {
+  const uint16_t p = parser.ushortval('P');
+  if (p < FAN_COUNT) fanSpeeds[p] = 0;
+}

Marlin/src/gcode/temperature/M109.h

@@ -0,0 +1,185 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating.
+ *       Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling.
+ */
+
+#ifndef MIN_COOLING_SLOPE_DEG
+  #define MIN_COOLING_SLOPE_DEG 1.50
+#endif
+#ifndef MIN_COOLING_SLOPE_TIME
+  #define MIN_COOLING_SLOPE_TIME 60
+#endif
+
+void gcode_M109() {
+
+  if (get_target_extruder_from_command(109)) return;
+  if (DEBUGGING(DRYRUN)) return;
+
+  #if ENABLED(SINGLENOZZLE)
+    if (target_extruder != active_extruder) return;
+  #endif
+
+  const bool no_wait_for_cooling = parser.seenval('S');
+  if (no_wait_for_cooling || parser.seenval('R')) {
+    const int16_t temp = parser.value_celsius();
+    thermalManager.setTargetHotend(temp, target_extruder);
+
+    #if ENABLED(DUAL_X_CARRIAGE)
+      if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0)
+        thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1);
+    #endif
+
+    #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
+      /**
+       * Use half EXTRUDE_MINTEMP to allow nozzles to be put into hot
+       * standby mode, (e.g., in a dual extruder setup) without affecting
+       * the running print timer.
+       */
+      if (parser.value_celsius() <= (EXTRUDE_MINTEMP) / 2) {
+        print_job_timer.stop();
+        LCD_MESSAGEPGM(WELCOME_MSG);
+      }
+      else
+        print_job_timer.start();
+    #endif
+
+    if (thermalManager.isHeatingHotend(target_extruder)) lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING);
+  }
+  else return;
+
+  #if ENABLED(AUTOTEMP)
+    planner.autotemp_M104_M109();
+  #endif
+
+  #if TEMP_RESIDENCY_TIME > 0
+    millis_t residency_start_ms = 0;
+    // Loop until the temperature has stabilized
+    #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_RESIDENCY_TIME) * 1000UL))
+  #else
+    // Loop until the temperature is very close target
+    #define TEMP_CONDITIONS (wants_to_cool ? thermalManager.isCoolingHotend(target_extruder) : thermalManager.isHeatingHotend(target_extruder))
+  #endif
+
+  float target_temp = -1.0, old_temp = 9999.0;
+  bool wants_to_cool = false;
+  wait_for_heatup = true;
+  millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
+
+  #if DISABLED(BUSY_WHILE_HEATING)
+    KEEPALIVE_STATE(NOT_BUSY);
+  #endif
+
+  #if ENABLED(PRINTER_EVENT_LEDS)
+    const float start_temp = thermalManager.degHotend(target_extruder);
+    uint8_t old_blue = 0;
+  #endif
+
+  do {
+    // Target temperature might be changed during the loop
+    if (target_temp != thermalManager.degTargetHotend(target_extruder)) {
+      wants_to_cool = thermalManager.isCoolingHotend(target_extruder);
+      target_temp = thermalManager.degTargetHotend(target_extruder);
+
+      // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
+      if (no_wait_for_cooling && wants_to_cool) break;
+    }
+
+    now = millis();
+    if (ELAPSED(now, next_temp_ms)) { //Print temp & remaining time every 1s while waiting
+      next_temp_ms = now + 1000UL;
+      print_heaterstates();
+      #if TEMP_RESIDENCY_TIME > 0
+        SERIAL_PROTOCOLPGM(" W:");
+        if (residency_start_ms)
+          SERIAL_PROTOCOL(long((((TEMP_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
+        else
+          SERIAL_PROTOCOLCHAR('?');
+      #endif
+      SERIAL_EOL();
+    }
+
+    idle();
+    refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
+
+    const float temp = thermalManager.degHotend(target_extruder);
+
+    #if ENABLED(PRINTER_EVENT_LEDS)
+      // Gradually change LED strip from violet to red as nozzle heats up
+      if (!wants_to_cool) {
+        const uint8_t blue = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 255, 0);
+        if (blue != old_blue) {
+          old_blue = blue;
+          set_led_color(255, 0, blue
+            #if ENABLED(NEOPIXEL_RGBW_LED)
+              , 0, true
+            #endif
+          );
+        }
+      }
+    #endif
+
+    #if TEMP_RESIDENCY_TIME > 0
+
+      const float temp_diff = FABS(target_temp - temp);
+
+      if (!residency_start_ms) {
+        // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time.
+        if (temp_diff < TEMP_WINDOW) residency_start_ms = now;
+      }
+      else if (temp_diff > TEMP_HYSTERESIS) {
+        // Restart the timer whenever the temperature falls outside the hysteresis.
+        residency_start_ms = now;
+      }
+
+    #endif
+
+    // Prevent a wait-forever situation if R is misused i.e. M109 R0
+    if (wants_to_cool) {
+      // break after MIN_COOLING_SLOPE_TIME seconds
+      // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG
+      if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
+        if (old_temp - temp < MIN_COOLING_SLOPE_DEG) break;
+        next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME;
+        old_temp = temp;
+      }
+    }
+
+  } while (wait_for_heatup && TEMP_CONDITIONS);
+
+  if (wait_for_heatup) {
+    LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
+    #if ENABLED(PRINTER_EVENT_LEDS)
+      #if ENABLED(RGBW_LED) || ENABLED(NEOPIXEL_RGBW_LED)
+        set_led_color(0, 0, 0, 255);  // Turn on the WHITE LED
+      #else
+        set_led_color(255, 255, 255); // Set LEDs All On
+      #endif
+    #endif
+  }
+
+  #if DISABLED(BUSY_WHILE_HEATING)
+    KEEPALIVE_STATE(IN_HANDLER);
+  #endif
+}

Marlin/src/gcode/temperature/M140.h

@@ -0,0 +1,29 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * M140: Set bed temperature
+ */
+void gcode_M140() {
+  if (DEBUGGING(DRYRUN)) return;
+  if (parser.seenval('S')) thermalManager.setTargetBed(parser.value_celsius());
+}

Marlin/src/gcode/temperature/M155.h

@@ -0,0 +1,32 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * M155: Set temperature auto-report interval. M155 S<seconds>
+ */
+void gcode_M155() {
+  if (parser.seenval('S')) {
+    auto_report_temp_interval = parser.value_byte();
+    NOMORE(auto_report_temp_interval, 60);
+    next_temp_report_ms = millis() + 1000UL * auto_report_temp_interval;
+  }
+}

Marlin/src/gcode/temperature/M190.h

@@ -0,0 +1,149 @@
+/**
+ * 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/>.
+ *
+ */
+
+#ifndef MIN_COOLING_SLOPE_DEG_BED
+  #define MIN_COOLING_SLOPE_DEG_BED 1.50
+#endif
+#ifndef MIN_COOLING_SLOPE_TIME_BED
+  #define MIN_COOLING_SLOPE_TIME_BED 60
+#endif
+
+/**
+ * M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
+ *       Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
+ */
+void gcode_M190() {
+  if (DEBUGGING(DRYRUN)) return;
+
+  LCD_MESSAGEPGM(MSG_BED_HEATING);
+  const bool no_wait_for_cooling = parser.seenval('S');
+  if (no_wait_for_cooling || parser.seenval('R')) {
+    thermalManager.setTargetBed(parser.value_celsius());
+    #if ENABLED(PRINTJOB_TIMER_AUTOSTART)
+      if (parser.value_celsius() > BED_MINTEMP)
+        print_job_timer.start();
+    #endif
+  }
+  else return;
+
+  #if TEMP_BED_RESIDENCY_TIME > 0
+    millis_t residency_start_ms = 0;
+    // Loop until the temperature has stabilized
+    #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + (TEMP_BED_RESIDENCY_TIME) * 1000UL))
+  #else
+    // Loop until the temperature is very close target
+    #define TEMP_BED_CONDITIONS (wants_to_cool ? thermalManager.isCoolingBed() : thermalManager.isHeatingBed())
+  #endif
+
+  float target_temp = -1.0, old_temp = 9999.0;
+  bool wants_to_cool = false;
+  wait_for_heatup = true;
+  millis_t now, next_temp_ms = 0, next_cool_check_ms = 0;
+
+  #if DISABLED(BUSY_WHILE_HEATING)
+    KEEPALIVE_STATE(NOT_BUSY);
+  #endif
+
+  target_extruder = active_extruder; // for print_heaterstates
+
+  #if ENABLED(PRINTER_EVENT_LEDS)
+    const float start_temp = thermalManager.degBed();
+    uint8_t old_red = 255;
+  #endif
+
+  do {
+    // Target temperature might be changed during the loop
+    if (target_temp != thermalManager.degTargetBed()) {
+      wants_to_cool = thermalManager.isCoolingBed();
+      target_temp = thermalManager.degTargetBed();
+
+      // Exit if S<lower>, continue if S<higher>, R<lower>, or R<higher>
+      if (no_wait_for_cooling && wants_to_cool) break;
+    }
+
+    now = millis();
+    if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up.
+      next_temp_ms = now + 1000UL;
+      print_heaterstates();
+      #if TEMP_BED_RESIDENCY_TIME > 0
+        SERIAL_PROTOCOLPGM(" W:");
+        if (residency_start_ms)
+          SERIAL_PROTOCOL(long((((TEMP_BED_RESIDENCY_TIME) * 1000UL) - (now - residency_start_ms)) / 1000UL));
+        else
+          SERIAL_PROTOCOLCHAR('?');
+      #endif
+      SERIAL_EOL();
+    }
+
+    idle();
+    refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out
+
+    const float temp = thermalManager.degBed();
+
+    #if ENABLED(PRINTER_EVENT_LEDS)
+      // Gradually change LED strip from blue to violet as bed heats up
+      if (!wants_to_cool) {
+        const uint8_t red = map(constrain(temp, start_temp, target_temp), start_temp, target_temp, 0, 255);
+        if (red != old_red) {
+          old_red = red;
+          set_led_color(red, 0, 255
+            #if ENABLED(NEOPIXEL_RGBW_LED)
+              , 0, true
+            #endif
+          );
+        }
+      }
+    #endif
+
+    #if TEMP_BED_RESIDENCY_TIME > 0
+
+      const float temp_diff = FABS(target_temp - temp);
+
+      if (!residency_start_ms) {
+        // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time.
+        if (temp_diff < TEMP_BED_WINDOW) residency_start_ms = now;
+      }
+      else if (temp_diff > TEMP_BED_HYSTERESIS) {
+        // Restart the timer whenever the temperature falls outside the hysteresis.
+        residency_start_ms = now;
+      }
+
+    #endif // TEMP_BED_RESIDENCY_TIME > 0
+
+    // Prevent a wait-forever situation if R is misused i.e. M190 R0
+    if (wants_to_cool) {
+      // Break after MIN_COOLING_SLOPE_TIME_BED seconds
+      // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED
+      if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) {
+        if (old_temp - temp < MIN_COOLING_SLOPE_DEG_BED) break;
+        next_cool_check_ms = now + 1000UL * MIN_COOLING_SLOPE_TIME_BED;
+        old_temp = temp;
+      }
+    }
+
+  } while (wait_for_heatup && TEMP_BED_CONDITIONS);
+
+  if (wait_for_heatup) LCD_MESSAGEPGM(MSG_BED_DONE);
+  #if DISABLED(BUSY_WHILE_HEATING)
+    KEEPALIVE_STATE(IN_HANDLER);
+  #endif
+}

Marlin/src/gcode/temperature/M303.h

@@ -0,0 +1,54 @@
+/**
+ * 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/>.
+ *
+ */
+
+/**
+ * M303: PID relay autotune
+ *
+ *       S<temperature> sets the target temperature. (default 150C)
+ *       E<extruder> (-1 for the bed) (default 0)
+ *       C<cycles>
+ *       U<bool> with a non-zero value will apply the result to current settings
+ */
+void gcode_M303() {
+  #if HAS_PID_HEATING
+    const int e = parser.intval('E'), c = parser.intval('C', 5);
+    const bool u = parser.boolval('U');
+
+    int16_t temp = parser.celsiusval('S', e < 0 ? 70 : 150);
+
+    if (WITHIN(e, 0, HOTENDS - 1))
+      target_extruder = e;
+
+    #if DISABLED(BUSY_WHILE_HEATING)
+      KEEPALIVE_STATE(NOT_BUSY);
+    #endif
+
+    thermalManager.PID_autotune(temp, e, c, u);
+
+    #if DISABLED(BUSY_WHILE_HEATING)
+      KEEPALIVE_STATE(IN_HANDLER);
+    #endif
+  #else
+    SERIAL_ERROR_START();
+    SERIAL_ERRORLNPGM(MSG_ERR_M303_DISABLED);
+  #endif
+}