Prettify process_parsed_command

Marlin/src/gcode/gcode.cpp

@@ -142,520 +142,419 @@ void GcodeSuite::process_parsed_command() {
   switch (parser.command_letter) {
     case 'G': switch (parser.codenum) {
 
-      // G0, G1
-      case 0:
-      case 1:
-        #if IS_SCARA
-          G0_G1(parser.codenum == 0);
-        #else
-          G0_G1();
-        #endif
-        break;
+      case 0: case 1: G0_G1(                                      // G0: Fast Move, G1: Linear Move
+                        #if IS_SCARA
+                          parser.codenum == 0
+                        #endif
+                      );
+                      break;
 
-      // G2, G3
       #if ENABLED(ARC_SUPPORT) && DISABLED(SCARA)
-        case 2: // G2: CW ARC
-        case 3: // G3: CCW ARC
-          G2_G3(parser.codenum == 2);
-          break;
+        case 2: case 3: G2_G3(parser.codenum == 2); break;        // G2: CW ARC, G3: CCW ARC
       #endif
 
-      // G4 Dwell
-      case 4:
-        G4();
-        break;
+      case 4: G4(); break;                                        // G4: Dwell
 
       #if ENABLED(BEZIER_CURVE_SUPPORT)
-        case 5: // G5: Cubic B_spline
-          G5();
-          break;
-      #endif // BEZIER_CURVE_SUPPORT
+        case 5: G5(); break;                                      // G5: Cubic B_spline
+      #endif
 
       #if ENABLED(FWRETRACT)
-        case 10: // G10: retract
-          G10();
-          break;
-        case 11: // G11: retract_recover
-          G11();
-          break;
-      #endif // FWRETRACT
+        case 10: G10(); break;                                    // G10: Retract / Swap Retract
+        case 11: G11(); break;                                    // G11: Recover / Swap Recover
+      #endif
 
       #if ENABLED(NOZZLE_CLEAN_FEATURE)
-        case 12:
-          G12(); // G12: Nozzle Clean
-          break;
-      #endif // NOZZLE_CLEAN_FEATURE
+        case 12: G12(); break;                                    // G12: Nozzle Clean
+      #endif
 
       #if ENABLED(CNC_WORKSPACE_PLANES)
-        case 17: // G17: Select Plane XY
-          G17();
-          break;
-        case 18: // G18: Select Plane ZX
-          G18();
-          break;
-        case 19: // G19: Select Plane YZ
-          G19();
-          break;
-      #endif // CNC_WORKSPACE_PLANES
+        case 17: G17(); break;                                    // G17: Select Plane XY
+        case 18: G18(); break;                                    // G18: Select Plane ZX
+        case 19: G19(); break;                                    // G19: Select Plane YZ
+      #endif
 
       #if ENABLED(INCH_MODE_SUPPORT)
-        case 20: // G20: Inch Mode
-          G20();
-          break;
-
-        case 21: // G21: MM Mode
-          G21();
-          break;
-      #endif // INCH_MODE_SUPPORT
+        case 20: G20(); break;                                    // G20: Inch Mode
+        case 21: G21(); break;                                    // G21: MM Mode
+      #endif
 
       #if ENABLED(G26_MESH_VALIDATION)
-        case 26: // G26: Mesh Validation Pattern generation
-          G26();
-          break;
-      #endif // AUTO_BED_LEVELING_UBL
+        case 26: G26(); break;                                    // G26: Mesh Validation Pattern generation
+      #endif
 
       #if ENABLED(NOZZLE_PARK_FEATURE)
-        case 27: // G27: Nozzle Park
-          G27();
-          break;
-      #endif // NOZZLE_PARK_FEATURE
+        case 27: G27(); break;                                    // G27: Nozzle Park
+      #endif
 
-      case 28: // G28: Home all axes, one at a time
-        G28(false);
-        break;
+      case 28: G28(false); break;                                 // G28: Home all axes, one at a time
 
       #if HAS_LEVELING
-        case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
-                 // or provides access to the UBL System if enabled.
-          G29();
-          break;
-      #endif // HAS_LEVELING
+        case 29: G29(); break;                                    // G29: Bed leveling calibration
+      #endif
 
       #if HAS_BED_PROBE
-
-        case 30: // G30 Single Z probe
-          G30();
-          break;
-
+        case 30: G30(); break;                                    // G30: Single Z probe
         #if ENABLED(Z_PROBE_SLED)
-
-            case 31: // G31: dock the sled
-              G31();
-              break;
-
-            case 32: // G32: undock the sled
-              G32();
-              break;
-
-        #endif // Z_PROBE_SLED
-
-      #endif // HAS_BED_PROBE
+          case 31: G31(); break;                                  // G31: dock the sled
+          case 32: G32(); break;                                  // G32: undock the sled
+        #endif
+      #endif
 
       #if ENABLED(DELTA_AUTO_CALIBRATION)
-        case 33: // G33: Delta Auto-Calibration
-          G33();
-          break;
-      #endif // DELTA_AUTO_CALIBRATION
+        case 33: G33(); break;                                    // G33: Delta Auto-Calibration
+      #endif
 
       #if ENABLED(G38_PROBE_TARGET)
-        case 38: // G38.2 & G38.3
+        case 38:                                                  // G38.2 & G38.3
           if (parser.subcode == 2 || parser.subcode == 3)
             G38(parser.subcode == 2);
           break;
       #endif
 
-      case 90: // G90
-        relative_mode = false;
-        break;
-      case 91: // G91
-        relative_mode = true;
-        break;
+      case 90: relative_mode = false; break;                      // G90: Relative Mode
+      case 91: relative_mode = true; break;                       // G91: Absolute Mode
 
-      case 92: // G92 - Set current axis position(s)
-        G92();
-        break;
+      case 92: G92(); break;                                      // G92: Set current axis position(s)
 
       #if HAS_MESH
-        case 42: G42(); break;        // G42: Coordinated move to a mesh point
+        case 42: G42(); break;                                    // G42: Coordinated move to a mesh point
       #endif
 
       #if ENABLED(DEBUG_GCODE_PARSER)
-        case 800:
-          parser.debug(); // GCode Parser Test for G
-          break;
+        case 800: parser.debug(); break;                          // G800: GCode Parser Test for G
       #endif
     }
     break;
 
     case 'M': switch (parser.codenum) {
       #if HAS_RESUME_CONTINUE
-        case 0: // M0: Unconditional stop - Wait for user button press on LCD
-        case 1: // M1: Conditional stop - Wait for user button press on LCD
-          M0_M1();
-          break;
-      #endif // ULTIPANEL
+        case 0:                                                   // M0: Unconditional stop - Wait for user button press on LCD
+        case 1: M0_M1(); break;                                   // M1: Conditional stop - Wait for user button press on LCD
+      #endif
 
       #if ENABLED(SPINDLE_LASER_ENABLE)
-        // These synchronize with movement commands...
-        case 3: M3_M4(true ); break;  // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW
-        case 4: M3_M4(false); break;  // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW
-        case 5: M5(); break;          // M5 - turn spindle/laser off
+        case 3: M3_M4(true ); break;                              // M3: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CW
+        case 4: M3_M4(false); break;                              // M4: turn spindle/laser on, set laser/spindle power/speed, set rotation direction CCW
+        case 5: M5(); break;                                      // M5 - turn spindle/laser off
       #endif
 
-      case 17: // M17: Enable all stepper motors
-        M17();
-        break;
+      case 17: M17(); break;                                      // M17: Enable all stepper motors
 
       #if ENABLED(SDSUPPORT)
-        case 20: M20(); break;    // M20: list SD card
-        case 21: M21(); break;    // M21: init SD card
-        case 22: M22(); break;    // M22: release SD card
-        case 23: M23(); break;    // M23: Select file
-        case 24: M24(); break;    // M24: Start SD print
-        case 25: M25(); break;    // M25: Pause SD print
-        case 26: M26(); break;    // M26: Set SD index
-        case 27: M27(); break;    // M27: Get SD status
-        case 28: M28(); break;    // M28: Start SD write
-        case 29: M29(); break;    // M29: Stop SD write
-        case 30: M30(); break;    // M30 <filename> Delete File
-        case 32: M32(); break;    // M32: Select file and start SD print
+        case 20: M20(); break;                                    // M20: list SD card
+        case 21: M21(); break;                                    // M21: init SD card
+        case 22: M22(); break;                                    // M22: release SD card
+        case 23: M23(); break;                                    // M23: Select file
+        case 24: M24(); break;                                    // M24: Start SD print
+        case 25: M25(); break;                                    // M25: Pause SD print
+        case 26: M26(); break;                                    // M26: Set SD index
+        case 27: M27(); break;                                    // M27: Get SD status
+        case 28: M28(); break;                                    // M28: Start SD write
+        case 29: M29(); break;                                    // M29: Stop SD write
+        case 30: M30(); break;                                    // M30 <filename> Delete File
+        case 32: M32(); break;                                    // M32: Select file and start SD print
 
         #if ENABLED(LONG_FILENAME_HOST_SUPPORT)
-          case 33: M33(); break;  // M33: Get the long full path to a file or folder
+          case 33: M33(); break;                                  // M33: Get the long full path to a file or folder
         #endif
 
         #if ENABLED(SDCARD_SORT_ALPHA) && ENABLED(SDSORT_GCODE)
-          case 34: M34(); break;  // M34: Set SD card sorting options
+          case 34: M34(); break;                                  // M34: Set SD card sorting options
         #endif
 
-        case 928: M928(); break;  // M928: Start SD write
+        case 928: M928(); break;                                  // M928: Start SD write
       #endif // SDSUPPORT
 
-      case 31: M31(); break;      // M31: Report time since the start of SD print or last M109
-
-      case 42: M42(); break;      // M42: Change pin state
+      case 31: M31(); break;                                      // M31: Report time since the start of SD print or last M109
+      case 42: M42(); break;                                      // M42: Change pin state
 
       #if ENABLED(PINS_DEBUGGING)
-        case 43: M43(); break;    // M43: Read pin state
+        case 43: M43(); break;                                    // M43: Read pin state
       #endif
 
       #if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
-        case 48: M48(); break;    // M48: Z probe repeatability test
+        case 48: M48(); break;                                    // M48: Z probe repeatability test
       #endif
 
       #if ENABLED(G26_MESH_VALIDATION)
-        case 49: M49(); break;    // M49: Turn on or off G26 debug flag for verbose output
+        case 49: M49(); break;                                    // M49: Turn on or off G26 debug flag for verbose output
       #endif
 
       #if ENABLED(ULTRA_LCD) && ENABLED(LCD_SET_PROGRESS_MANUALLY)
-        case 73: M73(); break;    // M73: Set progress percentage (for display on LCD)
+        case 73: M73(); break;                                    // M73: Set progress percentage (for display on LCD)
       #endif
 
-      case 75: M75(); break;      // M75: Start print timer
-      case 76: M76(); break;      // M76: Pause print timer
-      case 77: M77(); break;      // M77: Stop print timer
+      case 75: M75(); break;                                      // M75: Start print timer
+      case 76: M76(); break;                                      // M76: Pause print timer
+      case 77: M77(); break;                                      // M77: Stop print timer
 
       #if ENABLED(PRINTCOUNTER)
-        case 78: M78(); break;    // M78: Show print statistics
+        case 78: M78(); break;                                    // M78: Show print statistics
       #endif
 
       #if ENABLED(M100_FREE_MEMORY_WATCHER)
-        case 100: M100(); break;  // M100: Free Memory Report
+        case 100: M100(); break;                                  // M100: Free Memory Report
       #endif
 
-      case 104: M104(); break;    // M104: Set hot end temperature
-      case 109: M109(); break;    // M109: Wait for hotend temperature to reach target
-
-      case 110: M110(); break;    // M110: Set Current Line Number
-
-      case 111: M111(); break;    // M111: Set debug level
+      case 104: M104(); break;                                    // M104: Set hot end temperature
+      case 109: M109(); break;                                    // M109: Wait for hotend temperature to reach target
+      case 110: M110(); break;                                    // M110: Set Current Line Number
+      case 111: M111(); break;                                    // M111: Set debug level
 
       #if DISABLED(EMERGENCY_PARSER)
-        case 108: M108(); break;  // M108: Cancel Waiting
-        case 112: M112(); break;  // M112: Emergency Stop
-        case 410: M410(); break;  // M410: Quickstop - Abort all the planned moves.
+        case 108: M108(); break;                                  // M108: Cancel Waiting
+        case 112: M112(); break;                                  // M112: Emergency Stop
+        case 410: M410(); break;                                  // M410: Quickstop - Abort all the planned moves.
       #endif
 
       #if ENABLED(HOST_KEEPALIVE_FEATURE)
-        case 113: M113(); break; // M113: Set Host Keepalive interval
+        case 113: M113(); break;                                  // M113: Set Host Keepalive interval
       #endif
 
       #if HAS_HEATER_BED && HAS_TEMP_BED
-        case 140: M140(); break;  // M140: Set bed temperature
-        case 190: M190(); break;  // M190: Wait for bed temperature to reach target
+        case 140: M140(); break;                                  // M140: Set bed temperature
+        case 190: M190(); break;                                  // M190: Wait for bed temperature to reach target
       #endif
 
-      case 105: // M105: Report current temperature
-        M105();
-        KEEPALIVE_STATE(NOT_BUSY);
-        return; // "ok" already printed
+      case 105: M105(); KEEPALIVE_STATE(NOT_BUSY); return;        // M105: Report Temperatures (and say "ok")
 
       #if ENABLED(AUTO_REPORT_TEMPERATURES) && HAS_TEMP_SENSOR
-        case 155: M155(); break;  // M155: Set temperature auto-report interval
+        case 155: M155(); break;                                  // M155: Set temperature auto-report interval
       #endif
 
       #if FAN_COUNT > 0
-        case 106: M106(); break;  // M106: Fan On
-        case 107: M107(); break;  // M107: Fan Off
+        case 106: M106(); break;                                  // M106: Fan On
+        case 107: M107(); break;                                  // M107: Fan Off
       #endif
 
       #if ENABLED(PARK_HEAD_ON_PAUSE)
-        case 125: M125(); break;  // M125: Store current position and move to filament change position
+        case 125: M125(); break;                                  // M125: Store current position and move to filament change position
       #endif
 
       #if ENABLED(BARICUDA)
         // PWM for HEATER_1_PIN
         #if HAS_HEATER_1
-          case 126: M126(); break;  // M126: valve open
-          case 127: M127(); break;  // M127: valve closed
+          case 126: M126(); break;                                // M126: valve open
+          case 127: M127(); break;                                // M127: valve closed
         #endif
 
         // PWM for HEATER_2_PIN
         #if HAS_HEATER_2
-          case 128: M128(); break;  // M128: valve open
-          case 129: M129(); break;  // M129: valve closed
+          case 128: M128(); break;                                // M128: valve open
+          case 129: M129(); break;                                // M129: valve closed
         #endif
       #endif // BARICUDA
 
       #if HAS_POWER_SWITCH
-        case 80: M80(); break;    // M80: Turn on Power Supply
-      #endif
-
-      case 81: M81(); break;      // M81: Turn off Power, including Power Supply, if possible
-
-      case 82: M82(); break;      // M82: Set E axis normal mode (same as other axes)
-      case 83: M83(); break;      // M83: Set E axis relative mode
-
-      case 18: // M18 => M84
-      case 84: M18_M84(); break;  // M84: Disable all steppers or set timeout
-      case 85: M85(); break;      // M85: Set inactivity stepper shutdown timeout
-
-      case 92: M92(); break;      // M92: Set the steps-per-unit for one or more axes
-
-      case 114: M114(); break;    // M114: Report current position
-
-      case 115: M115(); break;    // M115: Report capabilities
-
-      case 117: M117(); break;    // M117: Set LCD message text, if possible
-      case 118: M118(); break;    // M118: Display a message in the host console
-
-      case 119: M119(); break;    // M119: Report endstop states
-      case 120: M120(); break;    // M120: Enable endstops
-      case 121: M121(); break;    // M121: Disable endstops
+        case 80: M80(); break;                                    // M80: Turn on Power Supply
+      #endif
+      case 81: M81(); break;                                      // M81: Turn off Power, including Power Supply, if possible
+
+      case 82: M82(); break;                                      // M82: Set E axis normal mode (same as other axes)
+      case 83: M83(); break;                                      // M83: Set E axis relative mode
+      case 18: case 84: M18_M84(); break;                         // M18/M84: Disable Steppers / Set Timeout
+      case 85: M85(); break;                                      // M85: Set inactivity stepper shutdown timeout
+      case 92: M92(); break;                                      // M92: Set the steps-per-unit for one or more axes
+      case 114: M114(); break;                                    // M114: Report current position
+      case 115: M115(); break;                                    // M115: Report capabilities
+      case 117: M117(); break;                                    // M117: Set LCD message text, if possible
+      case 118: M118(); break;                                    // M118: Display a message in the host console
+      case 119: M119(); break;                                    // M119: Report endstop states
+      case 120: M120(); break;                                    // M120: Enable endstops
+      case 121: M121(); break;                                    // M121: Disable endstops
 
       #if ENABLED(ULTIPANEL)
-        case 145: M145(); break;  // M145: Set material heatup parameters
+        case 145: M145(); break;                                  // M145: Set material heatup parameters
       #endif
 
       #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
-        case 149: M149(); break;  // M149: Set temperature units
+        case 149: M149(); break;                                  // M149: Set temperature units
       #endif
 
       #if HAS_COLOR_LEDS
-        case 150: M150(); break;  // M150: Set Status LED Color
+        case 150: M150(); break;                                  // M150: Set Status LED Color
       #endif
 
       #if ENABLED(MIXING_EXTRUDER)
-        case 163: M163(); break;    // M163: Set a component weight for mixing extruder
+        case 163: M163(); break;                                  // M163: Set a component weight for mixing extruder
         #if MIXING_VIRTUAL_TOOLS > 1
-          case 164: M164(); break;  // M164: Save current mix as a virtual extruder
+          case 164: M164(); break;                                // M164: Save current mix as a virtual extruder
         #endif
         #if ENABLED(DIRECT_MIXING_IN_G1)
-          case 165: M165(); break;  // M165: Set multiple mix weights
+          case 165: M165(); break;                                // M165: Set multiple mix weights
         #endif
       #endif
 
       #if DISABLED(NO_VOLUMETRICS)
-        case 200: M200(); break;  // M200: Set filament diameter, E to cubic units
+        case 200: M200(); break;                                  // M200: Set filament diameter, E to cubic units
       #endif
 
-      case 201: M201(); break;  // M201: Set max acceleration for print moves (units/s^2)
+      case 201: M201(); break;                                    // M201: Set max acceleration for print moves (units/s^2)
 
       #if 0
-        case 202: M202(); break; // Not used for Sprinter/grbl gen6
+        case 202: M202(); break;                                  // M202: Not used for Sprinter/grbl gen6
       #endif
 
-      case 203: M203(); break;    // M203: Set max feedrate (units/sec)
-      case 204: M204(); break;    // M204: Set acceleration
-      case 205: M205(); break;    // M205: Set advanced settings
+      case 203: M203(); break;                                    // M203: Set max feedrate (units/sec)
+      case 204: M204(); break;                                    // M204: Set acceleration
+      case 205: M205(); break;                                    // M205: Set advanced settings
 
       #if HAS_M206_COMMAND
-        case 206: M206(); break;  // M206: Set home offsets
+        case 206: M206(); break;                                  // M206: Set home offsets
       #endif
 
       #if ENABLED(DELTA)
-        case 665: M665(); break;  // M665: Set delta configurations
+        case 665: M665(); break;                                  // M665: Set delta configurations
       #endif
 
       #if ENABLED(DELTA) || ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
-        case 666: M666(); break;  // M666: Set delta or dual endstop adjustment
+        case 666: M666(); break;                                  // M666: Set delta or dual endstop adjustment
       #endif
 
       #if ENABLED(FWRETRACT)
-        case 207: M207(); break;  // M207: Set Retract Length, Feedrate, and Z lift
-        case 208: M208(); break;  // M208: Set Recover (unretract) Additional Length and Feedrate
-        case 209: if (MIN_AUTORETRACT <= MAX_AUTORETRACT) M209(); break;  // M209: Turn Automatic Retract Detection on/off
+        case 207: M207(); break;                                  // M207: Set Retract Length, Feedrate, and Z lift
+        case 208: M208(); break;                                  // M208: Set Recover (unretract) Additional Length and Feedrate
+        case 209:
+          if (MIN_AUTORETRACT <= MAX_AUTORETRACT) M209();         // M209: Turn Automatic Retract Detection on/off
+          break;
       #endif
 
-      case 211: M211(); break;    // M211: Enable, Disable, and/or Report software endstops
+      case 211: M211(); break;                                    // M211: Enable, Disable, and/or Report software endstops
 
       #if HOTENDS > 1
-        case 218: // M218: Set a tool offset
-          M218();
-          break;
+        case 218: M218(); break;                                  // M218: Set a tool offset
       #endif
 
-      case 220: M220(); break;    // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
-
-      case 221: // M221: Set Flow Percentage
-        M221();
-        break;
-
-      case 226: M226(); break;    // M226: Wait until a pin reaches a state
+      case 220: M220(); break;                                    // M220: Set Feedrate Percentage: S<percent> ("FR" on your LCD)
+      case 221: M221(); break;                                    // M221: Set Flow Percentage
+      case 226: M226(); break;                                    // M226: Wait until a pin reaches a state
 
       #if HAS_SERVOS
-        case 280: M280(); break;  // M280: Set servo position absolute
+        case 280: M280(); break;                                  // M280: Set servo position absolute
       #endif
 
       #if ENABLED(BABYSTEPPING)
-        case 290: M290(); break;  // M290: Babystepping
+        case 290: M290(); break;                                  // M290: Babystepping
       #endif
 
       #if HAS_BUZZER
-        case 300: M300(); break;  // M300: Play beep tone
+        case 300: M300(); break;                                  // M300: Play beep tone
       #endif
 
       #if ENABLED(PIDTEMP)
-        case 301: M301(); break;  // M301: Set hotend PID parameters
+        case 301: M301(); break;                                  // M301: Set hotend PID parameters
       #endif
 
       #if ENABLED(PIDTEMPBED)
-        case 304: M304(); break;  // M304: Set bed PID parameters
+        case 304: M304(); break;                                  // M304: Set bed PID parameters
       #endif
 
       #if defined(CHDK) || HAS_PHOTOGRAPH
-        case 240: M240(); break;  // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
+        case 240: M240(); break;                                  // M240: Trigger a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
       #endif
 
       #if HAS_LCD_CONTRAST
-        case 250: M250(); break;  // M250: Set LCD contrast
+        case 250: M250(); break;                                  // M250: Set LCD contrast
       #endif
 
       #if ENABLED(EXPERIMENTAL_I2CBUS)
-        case 260: M260(); break;  // M260: Send data to an i2c slave
-        case 261: M261(); break;  // M261: Request data from an i2c slave
+        case 260: M260(); break;                                  // M260: Send data to an i2c slave
+        case 261: M261(); break;                                  // M261: Request data from an i2c slave
       #endif
 
       #if ENABLED(PREVENT_COLD_EXTRUSION)
-        case 302: M302(); break;  // M302: Allow cold extrudes (set the minimum extrude temperature)
+        case 302: M302(); break;                                  // M302: Allow cold extrudes (set the minimum extrude temperature)
       #endif
 
-      case 303: // M303: PID autotune
-        M303();
-        break;
+      case 303: M303(); break;                                    // M303: PID autotune
 
       #if ENABLED(MORGAN_SCARA)
-        case 360: if (M360()) return; break;  // M360: SCARA Theta pos1
-        case 361: if (M361()) return; break;  // M361: SCARA Theta pos2
-        case 362: if (M362()) return; break;  // M362: SCARA Psi pos1
-        case 363: if (M363()) return; break;  // M363: SCARA Psi pos2
-        case 364: if (M364()) return; break;  // M364: SCARA Psi pos3 (90 deg to Theta)
+        case 360: if (M360()) return; break;                      // M360: SCARA Theta pos1
+        case 361: if (M361()) return; break;                      // M361: SCARA Theta pos2
+        case 362: if (M362()) return; break;                      // M362: SCARA Psi pos1
+        case 363: if (M363()) return; break;                      // M363: SCARA Psi pos2
+        case 364: if (M364()) return; break;                      // M364: SCARA Psi pos3 (90 deg to Theta)
       #endif
 
       #if ENABLED(EXT_SOLENOID)
-        case 380: M380(); break;  // M380: Activate solenoid on active extruder
-        case 381: M381(); break;  // M381: Disable all solenoids
+        case 380: M380(); break;                                  // M380: Activate solenoid on active extruder
+        case 381: M381(); break;                                  // M381: Disable all solenoids
       #endif
 
-      case 400: M400(); break;    // M400: Finish all moves
+      case 400: M400(); break;                                    // M400: Finish all moves
 
       #if HAS_BED_PROBE
-        case 401: M401(); break;  // M401: Deploy probe
-        case 402: M402(); break;  // M402: Stow probe
+        case 401: M401(); break;                                  // M401: Deploy probe
+        case 402: M402(); break;                                  // M402: Stow probe
       #endif
 
       #if ENABLED(FILAMENT_WIDTH_SENSOR)
-        case 404:  // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
-          M404();
-          break;
-        case 405:  // M405: Turn on filament sensor for control
-          M405();
-          break;
-        case 406:  // M406: Turn off filament sensor for control
-          M406();
-          break;
-        case 407:   // M407: Display measured filament diameter
-          M407();
-          break;
-      #endif // FILAMENT_WIDTH_SENSOR
+        case 404: M404(); break;                                  // M404: Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
+        case 405: M405(); break;                                  // M405: Turn on filament sensor for control
+        case 406: M406(); break;                                  // M406: Turn off filament sensor for control
+        case 407: M407(); break;                                  // M407: Display measured filament diameter
+      #endif
 
       #if HAS_LEVELING
-        case 420: // M420: Enable/Disable Bed Leveling
-          M420();
-          break;
+        case 420: M420(); break;                                  // M420: Enable/Disable Bed Leveling
       #endif
 
       #if HAS_MESH
-        case 421: // M421: Set a Mesh Bed Leveling Z coordinate
-          M421();
-          break;
+        case 421: M421(); break;                                  // M421: Set a Mesh Bed Leveling Z coordinate
       #endif
 
       #if HAS_M206_COMMAND
-        case 428: M428(); break;  // M428: Apply current_position to home_offset
+        case 428: M428(); break;                                  // M428: Apply current_position to home_offset
       #endif
 
-      case 500: M500(); break;    // M500: Store settings in EEPROM
-      case 501: M501(); break;    // M501: Read settings from EEPROM
-      case 502: M502(); break;    // M502: Revert to default settings
+      case 500: M500(); break;                                    // M500: Store settings in EEPROM
+      case 501: M501(); break;                                    // M501: Read settings from EEPROM
+      case 502: M502(); break;                                    // M502: Revert to default settings
       #if DISABLED(DISABLE_M503)
-        case 503: M503(); break;  // M503: print settings currently in memory
+        case 503: M503(); break;                                  // M503: print settings currently in memory
       #endif
       #if ENABLED(EEPROM_SETTINGS)
-        case 504: M504(); break;  // M504: Validate EEPROM contents
+        case 504: M504(); break;                                  // M504: Validate EEPROM contents
       #endif
 
       #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-        case 540: M540(); break;  // M540: Set abort on endstop hit for SD printing
+        case 540: M540(); break;                                  // M540: Set abort on endstop hit for SD printing
       #endif
 
       #if HAS_BED_PROBE
-        case 851: // M851: Set Z Probe Z Offset
-          M851();
-          break;
-      #endif // HAS_BED_PROBE
+        case 851: M851(); break;                                  // M851: Set Z Probe Z Offset
+      #endif
 
       #if ENABLED(SKEW_CORRECTION_GCODE)
-        case 852: // M852: Set Skew factors
-          M852();
-          break;
+        case 852: M852(); break;                                  // M852: Set Skew factors
       #endif
 
       #if ENABLED(ADVANCED_PAUSE_FEATURE)
-        case 600: M600(); break;  // M600: Pause for Filament Change
-        case 603: M603(); break;  // M603: Configure Filament Change
-      #endif // ADVANCED_PAUSE_FEATURE
+        case 600: M600(); break;                                  // M600: Pause for Filament Change
+        case 603: M603(); break;                                  // M603: Configure Filament Change
+      #endif
 
       #if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
-        case 605: M605(); break;  // M605: Set Dual X Carriage movement mode
+        case 605: M605(); break;                                  // M605: Set Dual X Carriage movement mode
       #endif
 
       #if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
-        case 701: M701(); break;  // M701: Load Filament
-        case 702: M702(); break;  // M702: Unload Filament
+        case 701: M701(); break;                                  // M701: Load Filament
+        case 702: M702(); break;                                  // M702: Unload Filament
       #endif
 
       #if ENABLED(LIN_ADVANCE)
-        case 900: M900(); break;  // M900: Set advance K factor.
+        case 900: M900(); break;                                  // M900: Set advance K factor.
       #endif
 
       #if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM || ENABLED(DIGIPOT_I2C) || ENABLED(DAC_STEPPER_CURRENT)
-        case 907: M907(); break;      // M907: Set digital trimpot motor current using axis codes.
+        case 907: M907(); break;                                  // M907: Set digital trimpot motor current using axis codes.
         #if HAS_DIGIPOTSS || ENABLED(DAC_STEPPER_CURRENT)
-          case 908: M908(); break;    // M908: Control digital trimpot directly.
-          #if ENABLED(DAC_STEPPER_CURRENT) // As with Printrbot RevF
-            case 909: M909(); break;  // M909: Print digipot/DAC current value
-            case 910: M910(); break;  // M910: Commit digipot/DAC value to external EEPROM
+          case 908: M908(); break;                                // M908: Control digital trimpot directly.
+          #if ENABLED(DAC_STEPPER_CURRENT)
+            case 909: M909(); break;                              // M909: Print digipot/DAC current value
+            case 910: M910(); break;                              // M910: Commit digipot/DAC value to external EEPROM
           #endif
         #endif
       #endif
@@ -664,51 +563,49 @@ void GcodeSuite::process_parsed_command() {
         #if ENABLED(TMC_DEBUG)
           case 122: M122(); break;
         #endif
-        case 906: M906(); break;    // M906: Set motor current in milliamps using axis codes X, Y, Z, E
-        case 911: M911(); break;    // M911: Report TMC2130 prewarn triggered flags
-        case 912: M912(); break;    // M912: Clear TMC2130 prewarn triggered flags
+        case 906: M906(); break;                                  // M906: Set motor current in milliamps using axis codes X, Y, Z, E
+        case 911: M911(); break;                                  // M911: Report TMC2130 prewarn triggered flags
+        case 912: M912(); break;                                  // M912: Clear TMC2130 prewarn triggered flags
         #if ENABLED(HYBRID_THRESHOLD)
-          case 913: M913(); break;  // M913: Set HYBRID_THRESHOLD speed.
+          case 913: M913(); break;                                // M913: Set HYBRID_THRESHOLD speed.
         #endif
         #if ENABLED(SENSORLESS_HOMING)
-          case 914: M914(); break;  // M914: Set SENSORLESS_HOMING sensitivity.
+          case 914: M914(); break;                                // M914: Set SENSORLESS_HOMING sensitivity.
         #endif
         #if ENABLED(TMC_Z_CALIBRATION)
-          case 915: M915(); break;  // M915: TMC Z axis calibration.
+          case 915: M915(); break;                                // M915: TMC Z axis calibration.
         #endif
       #endif
 
       #if HAS_MICROSTEPS
-        case 350: M350(); break;    // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
-        case 351: M351(); break;    // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
+        case 350: M350(); break;                                  // M350: Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
+        case 351: M351(); break;                                  // M351: Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
       #endif
 
-      case 355: M355(); break;      // M355: Set case light brightness
+      case 355: M355(); break;                                    // M355: Set case light brightness
 
       #if ENABLED(DEBUG_GCODE_PARSER)
-        case 800:
-          parser.debug(); // GCode Parser Test for M
-          break;
+        case 800: parser.debug(); break;                          // M800: GCode Parser Test for M
       #endif
 
       #if ENABLED(I2C_POSITION_ENCODERS)
-        case 860: M860(); break; // M860: Report encoder module position
-        case 861: M861(); break; // M861: Report encoder module status
-        case 862: M862(); break; // M862: Perform axis test
-        case 863: M863(); break; // M863: Calibrate steps/mm
-        case 864: M864(); break; // M864: Change module address
-        case 865: M865(); break; // M865: Check module firmware version
-        case 866: M866(); break; // M866: Report axis error count
-        case 867: M867(); break; // M867: Toggle error correction
-        case 868: M868(); break; // M868: Set error correction threshold
-        case 869: M869(); break; // M869: Report axis error
-      #endif
-
-      case 999: M999(); break;  // M999: Restart after being Stopped
+        case 860: M860(); break;                                  // M860: Report encoder module position
+        case 861: M861(); break;                                  // M861: Report encoder module status
+        case 862: M862(); break;                                  // M862: Perform axis test
+        case 863: M863(); break;                                  // M863: Calibrate steps/mm
+        case 864: M864(); break;                                  // M864: Change module address
+        case 865: M865(); break;                                  // M865: Check module firmware version
+        case 866: M866(); break;                                  // M866: Report axis error count
+        case 867: M867(); break;                                  // M867: Toggle error correction
+        case 868: M868(); break;                                  // M868: Set error correction threshold
+        case 869: M869(); break;                                  // M869: Report axis error
+      #endif
+
+      case 999: M999(); break;                                    // M999: Restart after being Stopped
     }
     break;
 
-    case 'T': T(parser.codenum); break; // Tn: Tool Change
+    case 'T': T(parser.codenum); break;                           // Tn: Tool Change
 
     default: parser.unknown_command_error();
   }