marlin/Marlin/src/gcode/gcode.h

/**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
 *
 */
#pragma once

/**
 * gcode.h - Temporary container for all gcode handlers
 */

/**
 * -----------------
 * G-Codes in Marlin
 * -----------------
 *
 * Helpful G-code references:
 *  - https://marlinfw.org/meta/gcode
 *  - https://reprap.org/wiki/G-code
 *  - https://linuxcnc.org/docs/html/gcode.html
 *
 * Help to document Marlin's G-codes online:
 *  - https://github.com/MarlinFirmware/MarlinDocumentation
 *
 * -----------------
 *
 * "G" Codes
 *
 * G0   -> G1
 * G1   - Coordinated Movement X Y Z E
 * G2   - CW ARC
 * G3   - CCW ARC
 * G4   - Dwell S<seconds> or P<milliseconds>
 * G5   - Cubic B-spline with XYZE destination and IJPQ offsets
 * G10  - Retract filament according to settings of M207 (Requires FWRETRACT)
 * G11  - Retract recover filament according to settings of M208 (Requires FWRETRACT)
 * G12  - Clean tool (Requires NOZZLE_CLEAN_FEATURE)
 * G17  - Select Plane XY (Requires CNC_WORKSPACE_PLANES)
 * G18  - Select Plane ZX (Requires CNC_WORKSPACE_PLANES)
 * G19  - Select Plane YZ (Requires CNC_WORKSPACE_PLANES)
 * G20  - Set input units to inches (Requires INCH_MODE_SUPPORT)
 * G21  - Set input units to millimeters (Requires INCH_MODE_SUPPORT)
 * G26  - Mesh Validation Pattern (Requires G26_MESH_VALIDATION)
 * G27  - Park Nozzle (Requires NOZZLE_PARK_FEATURE)
 * G28  - Home one or more axes
 * G29  - Start or continue the bed leveling probe procedure (Requires bed leveling)
 * G30  - Single Z probe, probes bed at X Y location (defaults to current XY location)
 * G31  - Dock sled (Z_PROBE_SLED only)
 * G32  - Undock sled (Z_PROBE_SLED only)
 * G33  - Delta Auto-Calibration (Requires DELTA_AUTO_CALIBRATION)
 * G34  - Z Stepper automatic alignment using probe: I<iterations> T<accuracy> A<amplification> (Requires Z_STEPPER_AUTO_ALIGN)
 * G35  - Read bed corners to help adjust bed screws: T<screw_thread> (Requires ASSISTED_TRAMMING)
 * G38  - Probe in any direction using the Z_MIN_PROBE (Requires G38_PROBE_TARGET)
 * G42  - Coordinated move to a mesh point (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BLINEAR, or AUTO_BED_LEVELING_UBL)
 * G60  - Save current position. (Requires SAVED_POSITIONS)
 * G61  - Apply/restore saved coordinates. (Requires SAVED_POSITIONS)
 * G76  - Calibrate first layer temperature offsets. (Requires PROBE_TEMP_COMPENSATION)
 * G80  - Cancel current motion mode (Requires GCODE_MOTION_MODES)
 * G90  - Use Absolute Coordinates
 * G91  - Use Relative Coordinates
 * G92  - Set current position to coordinates given
 *
 * "M" Codes
 *
 * M0   - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
 * M1   -> M0
 * M3   - Turn ON Laser | Spindle (clockwise), set Power | Speed. (Requires SPINDLE_FEATURE or LASER_FEATURE)
 * M4   - Turn ON Laser | Spindle (counter-clockwise), set Power | Speed. (Requires SPINDLE_FEATURE or LASER_FEATURE)
 * M5   - Turn OFF Laser | Spindle. (Requires SPINDLE_FEATURE or LASER_FEATURE)
 * M7   - Turn mist coolant ON. (Requires COOLANT_CONTROL)
 * M8   - Turn flood coolant ON. (Requires COOLANT_CONTROL)
 * M9   - Turn coolant OFF. (Requires COOLANT_CONTROL)
 * M12  - Set up closed loop control system. (Requires EXTERNAL_CLOSED_LOOP_CONTROLLER)
 * M16  - Expected printer check. (Requires EXPECTED_PRINTER_CHECK)
 * M17  - Enable/Power all stepper motors
 * M18  - Disable all stepper motors; same as M84
 * M20  - List SD card. (Requires SDSUPPORT)
 * M21  - Init SD card. (Requires SDSUPPORT)
 * M22  - Release SD card. (Requires SDSUPPORT)
 * M23  - Select SD file: "M23 /path/file.gco". (Requires SDSUPPORT)
 * M24  - Start/resume SD print. (Requires SDSUPPORT)
 * M25  - Pause SD print. (Requires SDSUPPORT)
 * M26  - Set SD position in bytes: "M26 S12345". (Requires SDSUPPORT)
 * M27  - Report SD print status. (Requires SDSUPPORT)
 *        OR, with 'S<seconds>' set the SD status auto-report interval. (Requires AUTO_REPORT_SD_STATUS)
 *        OR, with 'C' get the current filename.
 * M28  - Start SD write: "M28 /path/file.gco". (Requires SDSUPPORT)
 * M29  - Stop SD write. (Requires SDSUPPORT)
 * M30  - Delete file from SD: "M30 /path/file.gco"
 * M31  - Report time since last M109 or SD card start to serial.
 * M32  - Select file and start SD print: "M32 [S<bytepos>] !/path/file.gco#". (Requires SDSUPPORT)
 *        Use P to run other files as sub-programs: "M32 P !filename#"
 *        The '#' is necessary when calling from within sd files, as it stops buffer prereading
 * M33  - Get the longname version of a path. (Requires LONG_FILENAME_HOST_SUPPORT)
 * M34  - Set SD Card sorting options. (Requires SDCARD_SORT_ALPHA)
 * M42  - Change pin status via gcode: M42 P<pin> S<value>. LED pin assumed if P is omitted. (Requires DIRECT_PIN_CONTROL)
 * M43  - Display pin status, watch pins for changes, watch endstops & toggle LED, Z servo probe test, toggle pins
 * M48  - Measure Z Probe repeatability: M48 P<points> X<pos> Y<pos> V<level> E<engage> L<legs> S<chizoid>. (Requires Z_MIN_PROBE_REPEATABILITY_TEST)
 * M73  - Set the progress percentage. (Requires LCD_SET_PROGRESS_MANUALLY)
 * M75  - Start the print job timer.
 * M76  - Pause the print job timer.
 * M77  - Stop the print job timer.
 * M78  - Show statistical information about the print jobs. (Requires PRINTCOUNTER)
 * M80  - Turn on Power Supply. (Requires PSU_CONTROL)
 * M81  - Turn off Power Supply. (Requires PSU_CONTROL)
 * M82  - Set E codes absolute (default).
 * M83  - Set E codes relative while in Absolute (G90) mode.
 * M84  - Disable steppers until next move, or use S<seconds> to specify an idle
 *        duration after which steppers should turn off. S0 disables the timeout.
 * M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
 * M92  - Set planner.settings.axis_steps_per_mm for one or more axes.
 * M100 - Watch Free Memory (for debugging) (Requires M100_FREE_MEMORY_WATCHER)
 * M104 - Set extruder target temp.
 * M105 - Report current temperatures.
 * M106 - Set print fan speed.
 * M107 - Print fan off.
 * M108 - Break out of heating loops (M109, M190, M303). With no controller, breaks out of M0/M1. (Requires EMERGENCY_PARSER)
 * M109 - S<temp> Wait for extruder current temp to reach target temp. ** Wait only when heating! **
 *        R<temp> Wait for extruder current temp to reach target temp. ** Wait for heating or cooling. **
 *        If AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
 * M110 - Set the current line number. (Used by host printing)
 * M111 - Set debug flags: "M111 S<flagbits>". See flag bits defined in enum.h.
 * M112 - Full Shutdown.
 * M113 - Get or set the timeout interval for Host Keepalive "busy" messages. (Requires HOST_KEEPALIVE_FEATURE)
 * M114 - Report current position.
 * M115 - Report capabilities. (Extended capabilities requires EXTENDED_CAPABILITIES_REPORT)
 * M117 - Display a message on the controller screen. (Requires an LCD)
 * M118 - Display a message in the host console.
 * M119 - Report endstops status.
 * M120 - Enable endstops detection.
 * M121 - Disable endstops detection.
 * M122 - Debug stepper (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470)
 * M125 - Save current position and move to filament change position. (Requires PARK_HEAD_ON_PAUSE)
 * M126 - Solenoid Air Valve Open. (Requires BARICUDA)
 * M127 - Solenoid Air Valve Closed. (Requires BARICUDA)
 * M128 - EtoP Open. (Requires BARICUDA)
 * M129 - EtoP Closed. (Requires BARICUDA)
 * M140 - Set bed target temp. S<temp>
 * M141 - Set heated chamber target temp. S<temp> (Requires a chamber heater)
 * M145 - Set heatup values for materials on the LCD. H<hotend> B<bed> F<fan speed> for S<material> (0=PLA, 1=ABS)
 * M149 - Set temperature units. (Requires TEMPERATURE_UNITS_SUPPORT)
 * M150 - Set Status LED Color as R<red> U<green> B<blue> W<white> P<bright>. Values 0-255. (Requires BLINKM, RGB_LED, RGBW_LED, NEOPIXEL_LED, PCA9533, or PCA9632).
 * M155 - Auto-report temperatures with interval of S<seconds>. (Requires AUTO_REPORT_TEMPERATURES)
 * M163 - Set a single proportion for a mixing extruder. (Requires MIXING_EXTRUDER)
 * M164 - Commit the mix and save to a virtual tool (current, or as specified by 'S'). (Requires MIXING_EXTRUDER)
 * M165 - Set the mix for the mixing extruder (and current virtual tool) with parameters ABCDHI. (Requires MIXING_EXTRUDER and DIRECT_MIXING_IN_G1)
 * M166 - Set the Gradient Mix for the mixing extruder. (Requires GRADIENT_MIX)
 * M190 - S<temp> Wait for bed current temp to reach target temp. ** Wait only when heating! **
 *        R<temp> Wait for bed current temp to reach target temp. ** Wait for heating or cooling. **
 * M200 - Set filament diameter, D<diameter>, setting E axis units to cubic. (Use S0 to revert to linear units.)
 * M201 - Set max acceleration in units/s^2 for print moves: "M201 X<accel> Y<accel> Z<accel> E<accel>"
 * M202 - Set max acceleration in units/s^2 for travel moves: "M202 X<accel> Y<accel> Z<accel> E<accel>" ** UNUSED IN MARLIN! **
 * M203 - Set maximum feedrate: "M203 X<fr> Y<fr> Z<fr> E<fr>" in units/sec.
 * M204 - Set default acceleration in units/sec^2: P<printing> R<extruder_only> T<travel>
 * M205 - Set advanced settings. Current units apply:
            S<print> T<travel> minimum speeds
            B<minimum segment time>
            X<max X jerk>, Y<max Y jerk>, Z<max Z jerk>, E<max E jerk>
 * M206 - Set additional homing offset. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
 * M207 - Set Retract Length: S<length>, Feedrate: F<units/min>, and Z lift: Z<distance>. (Requires FWRETRACT)
 * M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>. (Requires FWRETRACT)
 * M209 - Turn Automatic Retract Detection on/off: S<0|1> (For slicers that don't support G10/11). (Requires FWRETRACT_AUTORETRACT)
          Every normal extrude-only move will be classified as retract depending on the direction.
 * M211 - Enable, Disable, and/or Report software endstops: S<0|1> (Requires MIN_SOFTWARE_ENDSTOPS or MAX_SOFTWARE_ENDSTOPS)
 * M217 - Set filament swap parameters: "M217 S<length> P<feedrate> R<feedrate>". (Requires SINGLENOZZLE)
 * M218 - Set/get a tool offset: "M218 T<index> X<offset> Y<offset>". (Requires 2 or more extruders)
 * M220 - Set Feedrate Percentage: "M220 S<percent>" (i.e., "FR" on the LCD)
 *        Use "M220 B" to back up the Feedrate Percentage and "M220 R" to restore it. (Requires PRUSA_MMU2)
 * M221 - Set Flow Percentage: "M221 S<percent>"
 * M226 - Wait until a pin is in a given state: "M226 P<pin> S<state>" (Requires DIRECT_PIN_CONTROL)
 * M240 - Trigger a camera to take a photograph. (Requires PHOTO_GCODE)
 * M250 - Set LCD contrast: "M250 C<contrast>" (0-63). (Requires LCD support)
 * M260 - i2c Send Data (Requires EXPERIMENTAL_I2CBUS)
 * M261 - i2c Request Data (Requires EXPERIMENTAL_I2CBUS)
 * M280 - Set servo position absolute: "M280 P<index> S<angle|µs>". (Requires servos)
 * M281 - Set servo min|max position: "M281 P<index> L<min> U<max>". (Requires EDITABLE_SERVO_ANGLES)
 * M290 - Babystepping (Requires BABYSTEPPING)
 * M300 - Play beep sound S<frequency Hz> P<duration ms>
 * M301 - Set PID parameters P I and D. (Requires PIDTEMP)
 * M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
 * M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
 * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
 * M305 - Set user thermistor parameters R T and P. (Requires TEMP_SENSOR_x 1000)
 * M350 - Set microstepping mode. (Requires digital microstepping pins.)
 * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
 * M355 - Set Case Light on/off and set brightness. (Requires CASE_LIGHT_PIN)
 * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
 * M381 - Disable all solenoids. (Requires EXT_SOLENOID)
 * M400 - Finish all moves.
 * M401 - Deploy and activate Z probe. (Requires a probe)
 * M402 - Deactivate and stow Z probe. (Requires a probe)
 * M403 - Set filament type for PRUSA MMU2
 * M404 - Display or set the Nominal Filament Width: "W<diameter>". (Requires FILAMENT_WIDTH_SENSOR)
 * M405 - Enable Filament Sensor flow control. "M405 D<delay_cm>". (Requires FILAMENT_WIDTH_SENSOR)
 * M406 - Disable Filament Sensor flow control. (Requires FILAMENT_WIDTH_SENSOR)
 * M407 - Display measured filament diameter in millimeters. (Requires FILAMENT_WIDTH_SENSOR)
 * M410 - Quickstop. Abort all planned moves.
 * M412 - Enable / Disable Filament Runout Detection. (Requires FILAMENT_RUNOUT_SENSOR)
 * M413 - Enable / Disable Power-Loss Recovery. (Requires POWER_LOSS_RECOVERY)
 * M420 - Enable/Disable Leveling (with current values) S1=enable S0=disable (Requires MESH_BED_LEVELING or ABL)
 * M421 - Set a single Z coordinate in the Mesh Leveling grid. X<units> Y<units> Z<units> (Requires MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, or AUTO_BED_LEVELING_UBL)
 * M422 - Set Z Stepper automatic alignment position using probe. X<units> Y<units> A<axis> (Requires Z_STEPPER_AUTO_ALIGN)
 * M425 - Enable/Disable and tune backlash correction. (Requires BACKLASH_COMPENSATION and BACKLASH_GCODE)
 * M428 - Set the home_offset based on the current_position. Nearest edge applies. (Disabled by NO_WORKSPACE_OFFSETS or DELTA)
 * M430 - Read the system current, voltage, and power (Requires POWER_MONITOR_CURRENT, POWER_MONITOR_VOLTAGE, or POWER_MONITOR_FIXED_VOLTAGE)
 * M486 - Identify and cancel objects. (Requires CANCEL_OBJECTS)
 * M500 - Store parameters in EEPROM. (Requires EEPROM_SETTINGS)
 * M501 - Restore parameters from EEPROM. (Requires EEPROM_SETTINGS)
 * M502 - Revert to the default "factory settings". ** Does not write them to EEPROM! **
 * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
 * M504 - Validate EEPROM contents. (Requires EEPROM_SETTINGS)
 * M510 - Lock Printer
 * M511 - Unlock Printer
 * M512 - Set/Change/Remove Password
 * M524 - Abort the current SD print job started with M24. (Requires SDSUPPORT)
 * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires SD_ABORT_ON_ENDSTOP_HIT)
 * M569 - Enable stealthChop on an axis. (Requires at least one _DRIVER_TYPE to be TMC2130/2160/2208/2209/5130/5160)
 * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires ADVANCED_PAUSE_FEATURE)
 * M603 - Configure filament change: "M603 T<tool> U<unload_length> L<load_length>". (Requires ADVANCED_PAUSE_FEATURE)
 * M605 - Set Dual X-Carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
 * M665 - Set delta configurations: "M665 H<delta height> L<diagonal rod> R<delta radius> S<segments/s> B<calibration radius> X<Alpha angle trim> Y<Beta angle trim> Z<Gamma angle trim> (Requires DELTA)
 * M666 - Set/get offsets for delta (Requires DELTA) or dual endstops. (Requires [XYZ]_DUAL_ENDSTOPS)
 * M672 - Set/Reset Duet Smart Effector's sensitivity. (Requires DUET_SMART_EFFECTOR and SMART_EFFECTOR_MOD_PIN)
 * M701 - Load filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
 * M702 - Unload filament (Requires FILAMENT_LOAD_UNLOAD_GCODES)
 * M810-M819 - Define/execute a G-code macro (Requires GCODE_MACROS)
 * M851 - Set Z probe's XYZ offsets in current units. (Negative values: X=left, Y=front, Z=below)
 * M852 - Set skew factors: "M852 [I<xy>] [J<xz>] [K<yz>]". (Requires SKEW_CORRECTION_GCODE, and SKEW_CORRECTION_FOR_Z for IJ)
 * M860 - Report the position of position encoder modules.
 * M861 - Report the status of position encoder modules.
 * M862 - Perform an axis continuity test for position encoder modules.
 * M863 - Perform steps-per-mm calibration for position encoder modules.
 * M864 - Change position encoder module I2C address.
 * M865 - Check position encoder module firmware version.
 * M866 - Report or reset position encoder module error count.
 * M867 - Enable/disable or toggle error correction for position encoder modules.
 * M868 - Report or set position encoder module error correction threshold.
 * M869 - Report position encoder module error.
 * M871 - Print/reset/clear first layer temperature offset values. (Requires PROBE_TEMP_COMPENSATION)
 * M192 - Wait for probe temp (Requires PROBE_TEMP_COMPENSATION)
 * M876 - Handle Prompt Response. (Requires HOST_PROMPT_SUPPORT and not EMERGENCY_PARSER)
 * M900 - Get or Set Linear Advance K-factor. (Requires LIN_ADVANCE)
 * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660 or L6470)
 * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
 * M908 - Control digital trimpot directly. (Requires HAS_MOTOR_CURRENT_DAC or DIGIPOTSS_PIN)
 * M909 - Print digipot/DAC current value. (Requires HAS_MOTOR_CURRENT_DAC)
 * M910 - Commit digipot/DAC value to external EEPROM via I2C. (Requires HAS_MOTOR_CURRENT_DAC)
 * M911 - Report stepper driver overtemperature pre-warn condition. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660)
 * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires at least one _DRIVER_TYPE defined as TMC2130/2160/5130/5160/2208/2209/2660)
 * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
 * M914 - Set StallGuard sensitivity. (Requires SENSORLESS_HOMING or SENSORLESS_PROBING)
 * M916 - L6470 tuning: Increase KVAL_HOLD until thermal warning. (Requires at least one _DRIVER_TYPE L6470)
 * M917 - L6470 tuning: Find minimum current thresholds. (Requires at least one _DRIVER_TYPE L6470)
 * M918 - L6470 tuning: Increase speed until max or error. (Requires at least one _DRIVER_TYPE L6470)
 * M951 - Set Magnetic Parking Extruder parameters. (Requires MAGNETIC_PARKING_EXTRUDER)
 * M7219 - Control Max7219 Matrix LEDs. (Requires MAX7219_GCODE)
 *
 * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
 * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
 * M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
 * M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
 * M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
 *
 * ************ Custom codes - This can change to suit future G-code regulations
 * G425 - Calibrate using a conductive object. (Requires CALIBRATION_GCODE)
 * M928 - Start SD logging: "M928 filename.gco". Stop with M29. (Requires SDSUPPORT)
 * M993 - Backup SPI Flash to SD
 * M994 - Load a Backup from SD to SPI Flash
 * M995 - Touch screen calibration for TFT display
 * M997 - Perform in-application firmware update
 * M999 - Restart after being stopped by error
 * D... - Custom Development G-code. Add hooks to 'gcode_D.cpp' for developers to test features. (Requires MARLIN_DEV_MODE)
 *
 * "T" Codes
 *
 * T0-T3 - Select an extruder (tool) by index: "T<n> F<units/min>"
 */

#include "../inc/MarlinConfig.h"
#include "parser.h"

#if ENABLED(I2C_POSITION_ENCODERS)
  #include "../feature/encoder_i2c.h"
#endif

#if IS_SCARA || defined(G0_FEEDRATE)
  #define HAS_FAST_MOVES 1
#endif

enum AxisRelative : uint8_t { REL_X, REL_Y, REL_Z, REL_E, E_MODE_ABS, E_MODE_REL };

class GcodeSuite {
public:

  static uint8_t axis_relative;

  static inline bool axis_is_relative(const AxisEnum a) {
    if (a == E_AXIS) {
      if (TEST(axis_relative, E_MODE_REL)) return true;
      if (TEST(axis_relative, E_MODE_ABS)) return false;
    }
    return TEST(axis_relative, a);
  }
  static inline void set_relative_mode(const bool rel) {
    axis_relative = rel ? _BV(REL_X) | _BV(REL_Y) | _BV(REL_Z) | _BV(REL_E) : 0;
  }
  static inline void set_e_relative() {
    CBI(axis_relative, E_MODE_ABS);
    SBI(axis_relative, E_MODE_REL);
  }
  static inline void set_e_absolute() {
    CBI(axis_relative, E_MODE_REL);
    SBI(axis_relative, E_MODE_ABS);
  }

  #if ENABLED(CNC_WORKSPACE_PLANES)
    /**
     * Workspace planes only apply to G2/G3 moves
     * (and "canned cycles" - not a current feature)
     */
    enum WorkspacePlane : char { PLANE_XY, PLANE_ZX, PLANE_YZ };
    static WorkspacePlane workspace_plane;
  #endif

  #define MAX_COORDINATE_SYSTEMS 9
  #if ENABLED(CNC_COORDINATE_SYSTEMS)
    static int8_t active_coordinate_system;
    static xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS];
    static bool select_coordinate_system(const int8_t _new);
  #endif

  static millis_t previous_move_ms, max_inactive_time, stepper_inactive_time;
  FORCE_INLINE static void reset_stepper_timeout(const millis_t ms=millis()) { previous_move_ms = ms; }
  FORCE_INLINE static bool stepper_max_timed_out(const millis_t ms=millis()) {
    return max_inactive_time && ELAPSED(ms, previous_move_ms + max_inactive_time);
  }
  FORCE_INLINE static bool stepper_inactive_timeout(const millis_t ms=millis()) {
    return ELAPSED(ms, previous_move_ms + stepper_inactive_time);
  }

  static int8_t get_target_extruder_from_command();
  static int8_t get_target_e_stepper_from_command();
  static void get_destination_from_command();

  static void process_parsed_command(const bool no_ok=false);
  static void process_next_command();

  // Execute G-code in-place, preserving current G-code parameters
  static void process_subcommands_now_P(PGM_P pgcode);
  static void process_subcommands_now(char * gcode);

  static inline void home_all_axes() {
    extern const char G28_STR[];
    process_subcommands_now_P(G28_STR);
  }

  #if EITHER(HAS_AUTO_REPORTING, HOST_KEEPALIVE_FEATURE)
    static bool autoreport_paused;
    static inline bool set_autoreport_paused(const bool p) {
      const bool was = autoreport_paused;
      autoreport_paused = p;
      return was;
    }
  #else
    static constexpr bool autoreport_paused = false;
    static inline bool set_autoreport_paused(const bool) { return false; }
  #endif

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

    static MarlinBusyState busy_state;
    static uint8_t host_keepalive_interval;

    static void host_keepalive();

    #define KEEPALIVE_STATE(N) REMEMBER(_KA_, gcode.busy_state, gcode.N)
  #else
    #define KEEPALIVE_STATE(N) NOOP
  #endif

  static void dwell(millis_t time);

private:

  TERN_(MARLIN_DEV_MODE, static void D(const int16_t dcode));

  static void G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move=false));

  TERN_(ARC_SUPPORT, static void G2_G3(const bool clockwise));

  static void G4();

  TERN_(BEZIER_CURVE_SUPPORT, static void G5());

  TERN_(DIRECT_STEPPING, static void G6());

  #if ENABLED(FWRETRACT)
    static void G10();
    static void G11();
  #endif

  TERN_(NOZZLE_CLEAN_FEATURE, static void G12());

  #if ENABLED(CNC_WORKSPACE_PLANES)
    static void G17();
    static void G18();
    static void G19();
  #endif

  #if ENABLED(INCH_MODE_SUPPORT)
    static void G20();
    static void G21();
  #endif

  TERN_(G26_MESH_VALIDATION, static void G26());

  TERN_(NOZZLE_PARK_FEATURE, static void G27());

  static void G28();

  #if HAS_LEVELING
    #if ENABLED(G29_RETRY_AND_RECOVER)
      static void G29_with_retry();
      #define G29_TYPE bool
    #else
      #define G29_TYPE void
    #endif
    static G29_TYPE G29();
  #endif

  #if HAS_BED_PROBE
    static void G30();
    #if ENABLED(Z_PROBE_SLED)
      static void G31();
      static void G32();
    #endif
  #endif

  TERN_(DELTA_AUTO_CALIBRATION, static void G33());

  #if EITHER(Z_STEPPER_AUTO_ALIGN, MECHANICAL_GANTRY_CALIBRATION)
    static void G34();
  #endif

  TERN_(Z_STEPPER_AUTO_ALIGN, static void M422());

  TERN_(ASSISTED_TRAMMING, static void G35());

  TERN_(G38_PROBE_TARGET, static void G38(const int8_t subcode));

  TERN_(HAS_MESH, static void G42());

  #if ENABLED(CNC_COORDINATE_SYSTEMS)
    static void G53();
    static void G54();
    static void G55();
    static void G56();
    static void G57();
    static void G58();
    static void G59();
  #endif

  TERN_(PROBE_TEMP_COMPENSATION, static void G76());

  #if SAVED_POSITIONS
    static void G60();
    static void G61();
  #endif

  TERN_(GCODE_MOTION_MODES, static void G80());

  static void G92();

  TERN_(CALIBRATION_GCODE, static void G425());

  TERN_(HAS_RESUME_CONTINUE, static void M0_M1());

  #if HAS_CUTTER
    static void M3_M4(const bool is_M4);
    static void M5();
  #endif

  #if ENABLED(COOLANT_CONTROL)
    TERN_(COOLANT_MIST, static void M7());
    TERN_(COOLANT_FLOOD, static void M8());
    static void M9();
  #endif

  TERN_(EXTERNAL_CLOSED_LOOP_CONTROLLER, static void M12());

  TERN_(EXPECTED_PRINTER_CHECK, static void M16());

  static void M17();

  static void M18_M84();

  #if ENABLED(SDSUPPORT)
    static void M20();
    static void M21();
    static void M22();
    static void M23();
    static void M24();
    static void M25();
    static void M26();
    static void M27();
    static void M28();
    static void M29();
    static void M30();
  #endif

  static void M31();

  #if ENABLED(SDSUPPORT)
    static void M32();
    TERN_(LONG_FILENAME_HOST_SUPPORT, static void M33());
    #if BOTH(SDCARD_SORT_ALPHA, SDSORT_GCODE)
      static void M34();
    #endif
  #endif

  TERN_(DIRECT_PIN_CONTROL, static void M42());
  TERN_(PINS_DEBUGGING, static void M43());

  TERN_(Z_MIN_PROBE_REPEATABILITY_TEST, static void M48());

  TERN_(LCD_SET_PROGRESS_MANUALLY, static void M73());

  static void M75();
  static void M76();
  static void M77();

  TERN_(PRINTCOUNTER, static void M78());

  TERN_(PSU_CONTROL, static void M80());

  static void M81();
  static void M82();
  static void M83();
  static void M85();
  static void M92();

  TERN_(M100_FREE_MEMORY_WATCHER, static void M100());

  #if EXTRUDERS
    static void M104();
    static void M109();
  #endif

  static void M105();

  #if HAS_FAN
    static void M106();
    static void M107();
  #endif

  #if DISABLED(EMERGENCY_PARSER)
    static void M108();
    static void M112();
    static void M410();
    TERN_(HOST_PROMPT_SUPPORT, static void M876());
  #endif

  static void M110();
  static void M111();

  TERN_(HOST_KEEPALIVE_FEATURE, static void M113());

  static void M114();
  static void M115();
  static void M117();
  static void M118();
  static void M119();
  static void M120();
  static void M121();

  TERN_(PARK_HEAD_ON_PAUSE, static void M125());

  #if ENABLED(BARICUDA)
    #if HAS_HEATER_1
      static void M126();
      static void M127();
    #endif
    #if HAS_HEATER_2
      static void M128();
      static void M129();
    #endif
  #endif

  #if HAS_HEATED_BED
    static void M140();
    static void M190();
  #endif

  #if HAS_HEATED_CHAMBER
    static void M141();
    static void M191();
  #endif

  #if PREHEAT_COUNT
    static void M145();
  #endif

  TERN_(TEMPERATURE_UNITS_SUPPORT, static void M149());

  TERN_(HAS_COLOR_LEDS, static void M150());

  #if BOTH(AUTO_REPORT_TEMPERATURES, HAS_TEMP_SENSOR)
    static void M155();
  #endif

  #if ENABLED(MIXING_EXTRUDER)
    static void M163();
    static void M164();
    TERN_(DIRECT_MIXING_IN_G1, static void M165());
    TERN_(GRADIENT_MIX, static void M166());
  #endif

  static void M200();
  static void M201();

  #if 0
    static void M202(); // Not used for Sprinter/grbl gen6
  #endif

  static void M203();
  static void M204();
  static void M205();

  TERN_(HAS_M206_COMMAND, static void M206());

  #if ENABLED(FWRETRACT)
    static void M207();
    static void M208();
    TERN_(FWRETRACT_AUTORETRACT, static void M209());
  #endif

  static void M211();

  TERN_(HAS_MULTI_EXTRUDER, static void M217());

  TERN_(HAS_HOTEND_OFFSET, static void M218());

  static void M220();

  #if EXTRUDERS
    static void M221();
  #endif

  TERN_(DIRECT_PIN_CONTROL, static void M226());

  TERN_(PHOTO_GCODE, static void M240());

  TERN_(HAS_LCD_CONTRAST, static void M250());

  #if ENABLED(EXPERIMENTAL_I2CBUS)
    static void M260();
    static void M261();
  #endif

  #if HAS_SERVOS
    static void M280();
    TERN_(EDITABLE_SERVO_ANGLES, static void M281());
  #endif

  TERN_(BABYSTEPPING, static void M290());

  TERN_(HAS_BUZZER, static void M300());

  TERN_(PIDTEMP, static void M301());

  TERN_(PREVENT_COLD_EXTRUSION, static void M302());

  TERN_(HAS_PID_HEATING, static void M303());

  TERN_(PIDTEMPBED, static void M304());

  TERN_(HAS_USER_THERMISTORS, static void M305());

  #if HAS_MICROSTEPS
    static void M350();
    static void M351();
  #endif

  TERN_(CASE_LIGHT_ENABLE, static void M355());

  TERN_(REPETIER_GCODE_M360, static void M360());

  #if ENABLED(MORGAN_SCARA)
    static bool M360();
    static bool M361();
    static bool M362();
    static bool M363();
    static bool M364();
  #endif

  #if EITHER(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL)
    static void M380();
    static void M381();
  #endif

  static void M400();

  #if HAS_BED_PROBE
    static void M401();
    static void M402();
  #endif

  TERN_(PRUSA_MMU2, static void M403());

  #if ENABLED(FILAMENT_WIDTH_SENSOR)
    static void M404();
    static void M405();
    static void M406();
    static void M407();
  #endif

  TERN_(HAS_FILAMENT_SENSOR, static void M412());

  #if HAS_LEVELING
    static void M420();
    static void M421();
  #endif

  TERN_(BACKLASH_GCODE, static void M425());

  TERN_(HAS_M206_COMMAND, static void M428());

  TERN_(HAS_POWER_MONITOR, static void M430());

  TERN_(CANCEL_OBJECTS, static void M486());

  static void M500();
  static void M501();
  static void M502();
  #if DISABLED(DISABLE_M503)
    static void M503();
  #endif
  TERN_(EEPROM_SETTINGS, static void M504());

  #if ENABLED(PASSWORD_FEATURE)
    static void M510();
    #if ENABLED(PASSWORD_UNLOCK_GCODE)
      static void M511();
    #endif
    #if ENABLED(PASSWORD_CHANGE_GCODE)
      static void M512();
    #endif
  #endif

  TERN_(SDSUPPORT, static void M524());

  TERN_(SD_ABORT_ON_ENDSTOP_HIT, static void M540());

  TERN_(BAUD_RATE_GCODE, static void M575());

  #if ENABLED(ADVANCED_PAUSE_FEATURE)
    static void M600();
    static void M603();
  #endif

  TERN_(HAS_DUPLICATION_MODE, static void M605());

  TERN_(IS_KINEMATIC, static void M665());

  #if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS
    static void M666();
  #endif

  #if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
    static void M672();
  #endif

  #if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
    static void M701();
    static void M702();
  #endif

  TERN_(GCODE_MACROS, static void M810_819());

  TERN_(HAS_BED_PROBE, static void M851());

  TERN_(SKEW_CORRECTION_GCODE, static void M852());

  #if ENABLED(I2C_POSITION_ENCODERS)
    FORCE_INLINE static void M860() { I2CPEM.M860(); }
    FORCE_INLINE static void M861() { I2CPEM.M861(); }
    FORCE_INLINE static void M862() { I2CPEM.M862(); }
    FORCE_INLINE static void M863() { I2CPEM.M863(); }
    FORCE_INLINE static void M864() { I2CPEM.M864(); }
    FORCE_INLINE static void M865() { I2CPEM.M865(); }
    FORCE_INLINE static void M866() { I2CPEM.M866(); }
    FORCE_INLINE static void M867() { I2CPEM.M867(); }
    FORCE_INLINE static void M868() { I2CPEM.M868(); }
    FORCE_INLINE static void M869() { I2CPEM.M869(); }
  #endif

  #if ENABLED(PROBE_TEMP_COMPENSATION)
    static void M192();
    static void M871();
  #endif

  TERN_(LIN_ADVANCE, static void M900());

  #if HAS_TRINAMIC_CONFIG
    static void M122();
    static void M906();
    TERN_(HAS_STEALTHCHOP, static void M569());
    #if ENABLED(MONITOR_DRIVER_STATUS)
      static void M911();
      static void M912();
    #endif
    TERN_(HYBRID_THRESHOLD, static void M913());
    TERN_(USE_SENSORLESS, static void M914());
  #endif

  #if HAS_L64XX
    static void M122();
    static void M906();
    static void M916();
    static void M917();
    static void M918();
  #endif

  #if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_I2C, HAS_MOTOR_CURRENT_DAC)
    static void M907();
    #if EITHER(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_DAC)
      static void M908();
      #if ENABLED(HAS_MOTOR_CURRENT_DAC)
        static void M909();
        static void M910();
      #endif
    #endif
  #endif

  TERN_(SDSUPPORT, static void M928());

  TERN_(MAGNETIC_PARKING_EXTRUDER, static void M951());

  TERN_(TOUCH_SCREEN_CALIBRATION, static void M995());

  #if BOTH(HAS_SPI_FLASH, SDSUPPORT)
    static void M993();
    static void M994();
  #endif

  TERN_(PLATFORM_M997_SUPPORT, static void M997());

  static void M999();

  #if ENABLED(POWER_LOSS_RECOVERY)
    static void M413();
    static void M1000();
  #endif

  TERN_(SDSUPPORT, static void M1001());

  TERN_(MAX7219_GCODE, static void M7219());

  TERN_(CONTROLLER_FAN_EDITABLE, static void M710());

  static void T(const int8_t tool_index);

};

extern GcodeSuite gcode;