/*
    This file is part of Repetier-Firmware.

    Repetier-Firmware 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.

    Repetier-Firmware 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 Repetier-Firmware.  If not, see <http://www.gnu.org/licenses/>.

    This firmware is a nearly complete rewrite of the sprinter firmware
    by kliment (https://github.com/kliment/Sprinter)
    which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
*/

#include "Repetier.h"

const int sensitive_pins[] PROGMEM = SENSITIVE_PINS; // Sensitive pin list for M42
int Commands::lowestRAMValue = MAX_RAM;
int Commands::lowestRAMValueSend = MAX_RAM;

void Commands::commandLoop()
{
    while(true)
    {
#ifdef DEBUG_PRINT
        debugWaitLoop = 1;
#endif
        if(!Printer::isBlockingReceive())
        {
            GCode::readFromSerial();
            GCode *code = GCode::peekCurrentCommand();
            //UI_SLOW; // do longer timed user interface action
            UI_MEDIUM; // do check encoder
            if(code)
            {
#if SDSUPPORT
                if(sd.savetosd)
                {
                    if(!(code->hasM() && code->M == 29))   // still writing to file
                        sd.writeCommand(code);
                    else
                        sd.finishWrite();
#if ECHO_ON_EXECUTE
                    code->echoCommand();
#endif
                }
                else
#endif
                    Commands::executeGCode(code);
                code->popCurrentCommand();
            }
        }
        else
        {
            UI_MEDIUM;
        }
        Printer::defaultLoopActions();
    }
}

void Commands::checkForPeriodicalActions(bool allowNewMoves)
{
    Printer::handleInterruptEvent();
    EVENT_PERIODICAL;
    if(!executePeriodical) return;
    executePeriodical = 0;
    EVENT_TIMER_100MS;
    Extruder::manageTemperatures();
    if(--counter250ms == 0)
    {
        if(manageMonitor <= 1 + NUM_EXTRUDER)
            writeMonitor();
        counter250ms = 5;
        EVENT_TIMER_500MS;
    }
    // If called from queueDelta etc. it is an error to start a new move since it
    // would invalidate old computation resulting in unpredicted behaviour.
    // lcd controller can start new moves, so we disallow it if called from within
    // a move command.
    UI_SLOW(allowNewMoves);
}

/** \brief Waits until movement cache is empty.

  Some commands expect no movement, before they can execute. This function
  waits, until the steppers are stopped. In the meanwhile it buffers incoming
  commands and manages temperatures.
*/
void Commands::waitUntilEndOfAllMoves()
{
#ifdef DEBUG_PRINT
    debugWaitLoop = 8;
#endif
    while(PrintLine::hasLines())
    {
        GCode::readFromSerial();
        checkForPeriodicalActions(false);
        UI_MEDIUM;
    }
}

void Commands::waitUntilEndOfAllBuffers()
{
    GCode *code = NULL;
#ifdef DEBUG_PRINT
    debugWaitLoop = 9;
#endif
    while(PrintLine::hasLines() || (code != NULL))
    {
        GCode::readFromSerial();
        code = GCode::peekCurrentCommand();
        UI_MEDIUM; // do check encoder
        if(code)
        {
#if SDSUPPORT
            if(sd.savetosd)
            {
                if(!(code->hasM() && code->M == 29))   // still writing to file
                    sd.writeCommand(code);
                else
                    sd.finishWrite();
#if ECHO_ON_EXECUTE
                code->echoCommand();
#endif
            }
            else
#endif
                Commands::executeGCode(code);
            code->popCurrentCommand();
        }
        Commands::checkForPeriodicalActions(false); // only called from memory
        UI_MEDIUM;
    }
}

void Commands::printCurrentPosition(FSTRINGPARAM(s))
{
    float x, y, z;
    Printer::realPosition(x, y, z);
    if (isnan(x) || isinf(x) || isnan(y) || isinf(y) || isnan(z) || isinf(z))
    {
        Com::printErrorFLN(s); // flag where the error condition came from
    }
    x += Printer::coordinateOffset[X_AXIS];
    y += Printer::coordinateOffset[Y_AXIS];
    z += Printer::coordinateOffset[Z_AXIS];
    Com::printF(Com::tXColon, x * (Printer::unitIsInches ? 0.03937 : 1), 2);
    Com::printF(Com::tSpaceYColon, y * (Printer::unitIsInches ? 0.03937 : 1), 2);
    Com::printF(Com::tSpaceZColon, z * (Printer::unitIsInches ? 0.03937 : 1), 3);
    Com::printFLN(Com::tSpaceEColon, Printer::currentPositionSteps[E_AXIS] * Printer::invAxisStepsPerMM[E_AXIS] * (Printer::unitIsInches ? 0.03937 : 1), 4);
    //Com::printF(PSTR("OffX:"),Printer::offsetX); // to debug offset handling
    //Com::printFLN(PSTR(" OffY:"),Printer::offsetY);
}

void Commands::printTemperatures(bool showRaw)
{
    float temp = Extruder::current->tempControl.currentTemperatureC;
#if HEATED_BED_SENSOR_TYPE == 0
    Com::printF(Com::tTColon,temp);
    Com::printF(Com::tSpaceSlash,Extruder::current->tempControl.targetTemperatureC,0);
#else
    Com::printF(Com::tTColon,temp);
    Com::printF(Com::tSpaceSlash,Extruder::current->tempControl.targetTemperatureC,0);
#if HAVE_HEATED_BED
    Com::printF(Com::tSpaceBColon,Extruder::getHeatedBedTemperature());
    Com::printF(Com::tSpaceSlash,heatedBedController.targetTemperatureC,0);
    if(showRaw)
    {
        Com::printF(Com::tSpaceRaw,(int)NUM_EXTRUDER);
        Com::printF(Com::tColon,(1023 << (2 - ANALOG_REDUCE_BITS)) - heatedBedController.currentTemperature);
    }
    Com::printF(Com::tSpaceBAtColon,(pwm_pos[heatedBedController.pwmIndex])); // Show output of autotune when tuning!
#endif
#endif
#if TEMP_PID
    Com::printF(Com::tSpaceAtColon,(autotuneIndex == 255 ? pwm_pos[Extruder::current->id] : pwm_pos[autotuneIndex])); // Show output of autotune when tuning!
#endif
#if NUM_EXTRUDER > 1 && MIXING_EXTRUDER == 0
    for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
    {
        Com::printF(Com::tSpaceT,(int)i);
        Com::printF(Com::tColon,extruder[i].tempControl.currentTemperatureC);
        Com::printF(Com::tSpaceSlash,extruder[i].tempControl.targetTemperatureC,0);
#if TEMP_PID
        Com::printF(Com::tSpaceAt,(int)i);
        Com::printF(Com::tColon,(pwm_pos[extruder[i].tempControl.pwmIndex])); // Show output of autotune when tuning!
#endif
        if(showRaw)
        {
            Com::printF(Com::tSpaceRaw,(int)i);
            Com::printF(Com::tColon,(1023 << (2 - ANALOG_REDUCE_BITS)) - extruder[i].tempControl.currentTemperature);
        }
    }
#endif
    Com::println();
}
void Commands::changeFeedrateMultiply(int factor)
{
    if(factor < 25) factor = 25;
    if(factor > 500) factor = 500;
    Printer::feedrate *= (float)factor / (float)Printer::feedrateMultiply;
    Printer::feedrateMultiply = factor;
    Com::printFLN(Com::tSpeedMultiply, factor);
}

void Commands::changeFlowrateMultiply(int factor)
{
    if(factor < 25) factor = 25;
    if(factor > 200) factor = 200;
    Printer::extrudeMultiply = factor;
    if(Extruder::current->diameter <= 0)
        Printer::extrusionFactor = 0.01f * static_cast<float>(factor);
    else
        Printer::extrusionFactor = 0.01f * static_cast<float>(factor) * 4.0f / (Extruder::current->diameter * Extruder::current->diameter * 3.141592654f);
    Com::printFLN(Com::tFlowMultiply, factor);
}

uint8_t fanKickstart;
void Commands::setFanSpeed(int speed,bool wait)
{
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
    speed = constrain(speed,0,255);
    Printer::setMenuMode(MENU_MODE_FAN_RUNNING,speed != 0);
    if(wait)
        Commands::waitUntilEndOfAllMoves(); // use only if neededthis to change the speed exactly at that point, but it may cause blobs if you do!
    if(speed != pwm_pos[NUM_EXTRUDER + 2])
    {
        Com::printFLN(Com::tFanspeed,speed); // send only new values to break update loops!
#if FAN_KICKSTART_TIME
        if(fanKickstart == 0 && speed > pwm_pos[NUM_EXTRUDER + 2] && speed < 85)
        {
            if(pwm_pos[NUM_EXTRUDER + 2]) fanKickstart = FAN_KICKSTART_TIME/100;
            else                          fanKickstart = FAN_KICKSTART_TIME/25;
        }
#endif
    }
    pwm_pos[NUM_EXTRUDER + 2] = speed;
#endif
}

void Commands::reportPrinterUsage()
{
#if EEPROM_MODE != 0
    float dist = Printer::filamentPrinted * 0.001 + HAL::eprGetFloat(EPR_PRINTING_DISTANCE);
    Com::printF(Com::tPrintedFilament, dist, 2);
    Com::printF(Com::tSpacem);
    bool alloff = true;
    for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
        if(tempController[i]->targetTemperatureC > 15) alloff = false;

    int32_t seconds = (alloff ? 0 : (HAL::timeInMilliseconds() - Printer::msecondsPrinting) / 1000) + HAL::eprGetInt32(EPR_PRINTING_TIME);
    int32_t tmp = seconds / 86400;
    seconds -= tmp * 86400;
    Com::printF(Com::tPrintingTime,tmp);
    tmp = seconds / 3600;
    Com::printF(Com::tSpaceDaysSpace,tmp);
    seconds -= tmp * 3600;
    tmp = seconds / 60;
    Com::printF(Com::tSpaceHoursSpace,tmp);
    Com::printFLN(Com::tSpaceMin);
#endif
}
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_DIGIPOT
// Digipot methods for controling current and microstepping

#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
int digitalPotWrite(int address, uint16_t value) // From Arduino DigitalPotControl example
{
    if(value > 255)
        value = 255;
    WRITE(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
    HAL::spiSend(address); //  send in the address and value via SPI:
    HAL::spiSend(value);
    WRITE(DIGIPOTSS_PIN,HIGH); // take the SS pin high to de-select the chip:
    //delay(10);
}

void setMotorCurrent(uint8_t driver, uint16_t current)
{
    if(driver > 4) return;
    const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
    digitalPotWrite(digipot_ch[driver], current);
}

void setMotorCurrentPercent( uint8_t channel, float level)
{
  uint16_t raw_level = ( level * 255 / 100 );
  setMotorCurrent(channel,raw_level);
}
#endif

void motorCurrentControlInit() //Initialize Digipot Motor Current
{
#if DIGIPOTSS_PIN && DIGIPOTSS_PIN > -1
    HAL::spiInit(0); //SPI.begin();
    SET_OUTPUT(DIGIPOTSS_PIN);
#ifdef MOTOR_CURRENT_PERCENT
    const float digipot_motor_current[] = MOTOR_CURRENT_PERCENT;
    for(int i = 0; i <= 4; i++)
        //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
        setMotorCurrentPercent(i,digipot_motor_current[i]);
#else
    const uint8_t digipot_motor_current[] = MOTOR_CURRENT;
    for(int i = 0; i <= 4; i++)
        //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
        setMotorCurrent(i,digipot_motor_current[i]);
#endif
#endif
}
#endif

#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_LTC2600

void setMotorCurrent( uint8_t channel, unsigned short level )
{
    if(channel >= LTC2600_NUM_CHANNELS) return;
    const uint8_t ltc_channels[] =  LTC2600_CHANNELS;
    if(channel > LTC2600_NUM_CHANNELS) return;
    uint8_t address = ltc_channels[channel];
    char i;


    // NOTE: Do not increase the current endlessly. In case the engine reaches its current saturation, the engine and the driver can heat up and loss power.
    // When the saturation is reached, more current causes more heating and more power loss.
    // In case of engines with lower quality, the saturation current may be reached before the nominal current.

    // configure the pins
    WRITE( LTC2600_CS_PIN, HIGH );
    SET_OUTPUT( LTC2600_CS_PIN );
    WRITE( LTC2600_SCK_PIN, LOW );
    SET_OUTPUT( LTC2600_SCK_PIN );
    WRITE( LTC2600_SDI_PIN, LOW );
    SET_OUTPUT( LTC2600_SDI_PIN );

    // enable the command interface of the LTC2600
    WRITE( LTC2600_CS_PIN, LOW );

    // transfer command and address
    for( i = 7; i >= 0; i-- )
    {
        WRITE( LTC2600_SDI_PIN, address & (0x01 << i));
        WRITE( LTC2600_SCK_PIN, 1 );
        WRITE( LTC2600_SCK_PIN, 0 );
    }

    // transfer the data word
    for( i = 15; i >= 0; i-- )
    {
        WRITE( LTC2600_SDI_PIN, level & (0x01 << i));
        WRITE( LTC2600_SCK_PIN, 1 );
        WRITE( LTC2600_SCK_PIN, 0 );
    }

    // disable the ommand interface of the LTC2600 -
    // this carries out the specified command
    WRITE( LTC2600_CS_PIN, HIGH );

} // setLTC2600
void setMotorCurrentPercent( uint8_t channel, float level)
{
    if(level > 100.0f) level = 100.0f;
  uint16_t raw_level = static_cast<uint16_t>( (long)level * 65535L / 100L );
  setMotorCurrent(channel,raw_level);
}

void motorCurrentControlInit() //Initialize LTC2600 Motor Current
{
    uint8_t i;
#ifdef MOTOR_CURRENT_PERCENT
    const float digipot_motor_current[] = MOTOR_CURRENT_PERCENT;
    for(int i = 0; i < LTC2600_NUM_CHANNELS; i++)
        //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
        setMotorCurrentPercent(i,digipot_motor_current[i]);
#else
    const unsigned int ltc_current[] =  MOTOR_CURRENT;
    for(i = 0; i < LTC2600_NUM_CHANNELS; i++)
    {
        setMotorCurrent(i, ltc_current[i] );
    }
#endif
}
#endif

#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_ALLIGATOR
void setMotorCurrent(uint8_t channel, unsigned short value)
{
    if(channel >= 4)
        return;
    if(value > 255)
        value = 255;
    uint8_t externalDac_buf[2] = {0x10, 0x00};

    externalDac_buf[0] |= ( 3 - channel << 6);
    externalDac_buf[0] |= (value >> 4);
    externalDac_buf[1] |= (value << 4);

    WRITE(DAC_SYNC, HIGH);
    WRITE(SPI_EEPROM1_CS, HIGH);
    WRITE(SPI_EEPROM2_CS, HIGH);
    WRITE(SPI_FLASH_CS, HIGH);
    WRITE(SDSS, HIGH);

    HAL::delayMicroseconds(1);
    HAL::delayMicroseconds(1);

    WRITE(DAC_SYNC, HIGH);
    WRITE(DAC_SYNC, LOW);
    HAL::delayMilliseconds(1);
    WRITE(DAC_SYNC, HIGH);
    HAL::delayMilliseconds(1);
    WRITE(DAC_SYNC, LOW);

    HAL::spiSend(SPI_CHAN_DAC, externalDac_buf, 2);
}

void setMotorCurrentPercent( uint8_t channel, float level)
{
  uint16_t raw_level = ( level * 255 / 100 );
  setMotorCurrent(channel,raw_level);
}

void motorCurrentControlInit() //Initialize Motor Current
{
    uint8_t externalDac_buf[2] = {0x20, 0x00};//all off

    WRITE(DAC_SYNC, HIGH);
    WRITE(SPI_EEPROM1_CS, HIGH);
    WRITE(SPI_EEPROM2_CS, HIGH);
    WRITE(SPI_FLASH_CS, HIGH);
    WRITE(SDSS, HIGH);
    SET_OUTPUT(DAC_SYNC);

    HAL::delayMicroseconds(1);
    HAL::delayMicroseconds(1);
    WRITE(DAC_SYNC, HIGH);
    WRITE(DAC_SYNC, LOW);
    HAL::delayMilliseconds(1);
    WRITE(DAC_SYNC, HIGH);
    HAL::delayMilliseconds(1);
    WRITE(DAC_SYNC, LOW);

    HAL::spiSend(SPI_CHAN_DAC,externalDac_buf, 2);

#ifdef MOTOR_CURRENT_PERCENT
    const float digipot_motor_current[] = MOTOR_CURRENT_PERCENT;
    for(int i = 0; i < 4; i++)
        setMotorCurrentPercent(i,digipot_motor_current[i]);
#else
    const uint8_t digipot_motor_current[] = MOTOR_CURRENT;
    for(uint8_t i = 0; i < 4; i++)
        setMotorCurrent(i,digipot_motor_current[i]);
#endif
}
#endif


#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_MCP4728
uint8_t   _intVref[]     = {MCP4728_VREF, MCP4728_VREF, MCP4728_VREF, MCP4728_VREF};
uint8_t   _gain[]        = {MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN};
uint8_t   _powerDown[]   = {0,0,0,0};
int16_t   dac_motor_current[] =  {0,0,0,0};

uint8_t   _intVrefEp[]   = {MCP4728_VREF, MCP4728_VREF, MCP4728_VREF, MCP4728_VREF};
uint8_t   _gainEp[]      = {MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN, MCP4728_GAIN};
uint8_t   _powerDownEp[] = {0,0,0,0};
int16_t    _valuesEp[]   = {0,0,0,0};

uint8_t   dac_stepper_channel[] = MCP4728_STEPPER_ORDER;

int dacSimpleCommand(uint8_t simple_command) {
    HAL::i2cStartWait(MCP4728_GENERALCALL_ADDRESS + I2C_WRITE);
    HAL::i2cWrite(simple_command);
    HAL::i2cStop();
}

void dacReadStatus() {
  HAL::delayMilliseconds(500);
  HAL::i2cStartWait(MCP4728_I2C_ADDRESS | I2C_READ);

  for (int i = 0; i < 8; i++) { // 2 sets of 4 Channels (1 EEPROM, 1 Runtime)
    uint8_t deviceID = HAL::i2cReadAck();
    uint8_t  hiByte  = HAL::i2cReadAck();
    uint8_t  loByte  = ((i < 7) ? HAL::i2cReadAck() : HAL::i2cReadNak());

    uint8_t isEEPROM = (deviceID & 0B00001000) >> 3;
    uint8_t channel  = (deviceID & 0B00110000) >> 4;
    if (isEEPROM == 1) {
      _intVrefEp[channel] = (hiByte & 0B10000000) >> 7;
      _gainEp[channel] = (hiByte & 0B00010000) >> 4;
      _powerDownEp[channel] = (hiByte & 0B01100000) >> 5;
      _valuesEp[channel] = word((hiByte & 0B00001111), loByte);
    } else {
      _intVref[channel] = (hiByte & 0B10000000) >> 7;
      _gain[channel] = (hiByte & 0B00010000) >> 4;
      _powerDown[channel] = (hiByte & 0B01100000) >> 5;
      dac_motor_current[channel] = word((hiByte & 0B00001111), loByte);
    }
  }

  HAL::i2cStop();
}

void dacAnalogUpdate(bool saveEEPROM = false) {
  uint8_t dac_write_cmd = MCP4728_CMD_SEQ_WRITE;

  HAL::i2cStartWait(MCP4728_I2C_ADDRESS + I2C_WRITE);
  if (saveEEPROM) HAL::i2cWrite(dac_write_cmd);

  for (int i = 0;i < MCP4728_NUM_CHANNELS;i++){
    uint16_t level = dac_motor_current[i];

    uint8_t highbyte = ( _intVref[i] << 7 | _gain[i] << 4 | (uint8_t)((level) >> 8) );
    uint8_t lowbyte =  ( (uint8_t) ((level) & 0xff) );
    dac_write_cmd = MCP4728_CMD_MULTI_WRITE | (i << 1);

    if (!saveEEPROM) HAL::i2cWrite(dac_write_cmd);
    HAL::i2cWrite(highbyte);
    HAL::i2cWrite(lowbyte);
  }

  HAL::i2cStop();

  // Instruct the MCP4728 to reflect our updated value(s) on its DAC Outputs
  dacSimpleCommand((uint8_t)MCP4728_CMD_GC_UPDATE); // MCP4728 General Command Software Update (Update all DAC Outputs to reflect settings)

  // if (saveEEPROM) dacReadStatus(); // Not necessary, just a read-back sanity check.
}

void dacCommitEeprom() {
  dacAnalogUpdate(true);
  dacReadStatus(); // Refresh EEPROM Values with values actually stored in EEPROM. .
}

void dacPrintSet(int dacChannelSettings[], const char* dacChannelPrefixes[]){
  for (int i = 0; i < MCP4728_NUM_CHANNELS; i++){
    uint8_t dac_channel = dac_stepper_channel[i]; // DAC Channel is a mapped lookup.
    Com::printF(dacChannelPrefixes[i], ((float)dacChannelSettings[dac_channel] * 100 / MCP4728_VOUT_MAX));
    Com::printF(Com::tSpaceRaw);
    Com::printFLN(Com::tColon,dacChannelSettings[dac_channel]);
  }
}

void dacPrintValues() {
  const char* dacChannelPrefixes[] = {Com::tSpaceXColon, Com::tSpaceYColon, Com::tSpaceZColon, Com::tSpaceEColon};

  Com::printFLN(Com::tMCPEpromSettings);
  dacPrintSet(_valuesEp, dacChannelPrefixes); // Once for the EEPROM set

  Com::printFLN(Com::tMCPCurrentSettings);
  dacPrintSet(dac_motor_current, dacChannelPrefixes); // And another for the RUNTIME set
}

void setMotorCurrent( uint8_t xyz_channel, uint16_t level )
{
    if (xyz_channel >= MCP4728_NUM_CHANNELS) return;
    uint8_t stepper_channel = dac_stepper_channel[xyz_channel];
    dac_motor_current[stepper_channel] = level < MCP4728_VOUT_MAX ? level : MCP4728_VOUT_MAX;
    dacAnalogUpdate();
}

void setMotorCurrentPercent( uint8_t channel, float level)
{
  uint16_t raw_level = ( level * MCP4728_VOUT_MAX / 100 );
  setMotorCurrent(channel,raw_level);
}

void motorCurrentControlInit() //Initialize MCP4728 Motor Current
{
    HAL::i2cInit(400000); // Initialize the i2c bus.
    dacSimpleCommand((uint8_t)MCP4728_CMD_GC_RESET); // MCP4728 General Command Reset
    dacReadStatus(); // Load Values from EEPROM.

    for(int i = 0; i < MCP4728_NUM_CHANNELS; i++) {
        setMotorCurrent(dac_stepper_channel[i], _valuesEp[i] ); // This is not strictly necessary, but serves as a good sanity check to ensure we're all on the same page.
    }
}
#endif

#if defined(X_MS1_PIN) && X_MS1_PIN > -1
void microstepMS(uint8_t driver, int8_t ms1, int8_t ms2)
{
    if(ms1 > -1) switch(driver)
        {
        case 0:
#if X_MS1_PIN > -1
            WRITE( X_MS1_PIN,ms1);
#endif
            break;
        case 1:
#if Y_MS1_PIN > -1
            WRITE( Y_MS1_PIN,ms1);
#endif
            break;
        case 2:
#if Z_MS1_PIN > -1
            WRITE( Z_MS1_PIN,ms1);
#endif
            break;
        case 3:
#if E0_MS1_PIN > -1
            WRITE(E0_MS1_PIN,ms1);
#endif
            break;
        case 4:
#if E1_MS1_PIN > -1
            WRITE(E1_MS1_PIN,ms1);
#endif
            break;
        }
    if(ms2 > -1) switch(driver)
        {
        case 0:
#if X_MS2_PIN > -1
            WRITE( X_MS2_PIN,ms2);
#endif
            break;
        case 1:
#if Y_MS2_PIN > -1
            WRITE( Y_MS2_PIN,ms2);
#endif
            break;
        case 2:
#if Z_MS2_PIN > -1
            WRITE( Z_MS2_PIN,ms2);
#endif
            break;
        case 3:
#if E0_MS2_PIN > -1
            WRITE(E0_MS2_PIN,ms2);
#endif
            break;
        case 4:
#if E1_MS2_PIN > -1
            WRITE(E1_MS2_PIN,ms2);
#endif
            break;
        }
}

void microstepMode(uint8_t driver, uint8_t stepping_mode)
{
    switch(stepping_mode)
    {
    case 1:
        microstepMS(driver,MICROSTEP1);
        break;
    case 2:
        microstepMS(driver,MICROSTEP2);
        break;
    case 4:
        microstepMS(driver,MICROSTEP4);
        break;
    case 8:
        microstepMS(driver,MICROSTEP8);
        break;
    case 16:
        microstepMS(driver,MICROSTEP16);
        break;
    case 32:
        microstepMS(driver,MICROSTEP32);
        break;
    }
}

void microstepReadings()
{
    Com::printFLN(Com::tMS1MS2Pins);
#if X_MS1_PIN > -1 && X_MS2_PIN > -1
    Com::printF(Com::tXColon,READ(X_MS1_PIN));
    Com::printFLN(Com::tComma,READ(X_MS2_PIN));
#elif X_MS1_PIN > -1
    Com::printFLN(Com::tXColon,READ(X_MS1_PIN));
#endif
#if Y_MS1_PIN > -1 && Y_MS2_PIN > -1
    Com::printF(Com::tYColon,READ(Y_MS1_PIN));
    Com::printFLN(Com::tComma,READ(Y_MS2_PIN));
#elif Y_MS1_PIN > -1
    Com::printFLN(Com::tYColon,READ(Y_MS1_PIN));
#endif
#if Z_MS1_PIN > -1 && Z_MS2_PIN > -1
    Com::printF(Com::tZColon,READ(Z_MS1_PIN));
    Com::printFLN(Com::tComma,READ(Z_MS2_PIN));
#elif Z_MS1_PIN > -1
    Com::printFLN(Com::tZColon,READ(Z_MS1_PIN));
#endif
#if E0_MS1_PIN > -1 && E0_MS2_PIN > -1
    Com::printF(Com::tE0Colon,READ(E0_MS1_PIN));
    Com::printFLN(Com::tComma,READ(E0_MS2_PIN));
#elif E0_MS1_PIN > -1
    Com::printFLN(Com::tE0Colon,READ(E0_MS1_PIN));
#endif
#if E1_MS1_PIN > -1 && E1_MS2_PIN > -1
    Com::printF(Com::tE1Colon,READ(E1_MS1_PIN));
    Com::printFLN(Com::tComma,READ(E1_MS2_PIN));
#elif E1_MS1_PIN > -1
    Com::printFLN(Com::tE1Colon,READ(E1_MS1_PIN));
#endif
}
#endif

void microstepInit()
{
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
    const uint8_t microstep_modes[] = MICROSTEP_MODES;
#if X_MS1_PIN > -1
    SET_OUTPUT(X_MS1_PIN);
#endif
#if Y_MS1_PIN > -1
    SET_OUTPUT(Y_MS1_PIN);
#endif
#if Z_MS1_PIN > -1
    SET_OUTPUT(Z_MS1_PIN);
#endif
#if E0_MS1_PIN > -1
    SET_OUTPUT(E0_MS1_PIN);
#endif
#if E1_MS1_PIN > -1
    SET_OUTPUT(E1_MS1_PIN);
#endif
#if X_MS2_PIN > -1
    SET_OUTPUT(X_MS2_PIN);
#endif
#if Y_MS2_PIN > -1
    SET_OUTPUT(Y_MS2_PIN);
#endif
#if Z_MS2_PIN > -1
    SET_OUTPUT(Z_MS2_PIN);
#endif
#if E0_MS2_PIN > -1
    SET_OUTPUT(E0_MS2_PIN);
#endif
#if E1_MS2_PIN > -1
    SET_OUTPUT(E1_MS2_PIN);
#endif
    for(int i = 0; i <= 4; i++) microstepMode(i, microstep_modes[i]);
#endif
}

/**
  \brief Execute the Arc command stored in com.
*/
#if ARC_SUPPORT
void Commands::processArc(GCode *com)
{
    float position[Z_AXIS_ARRAY];
    Printer::realPosition(position[X_AXIS],position[Y_AXIS],position[Z_AXIS]);
    if(!Printer::setDestinationStepsFromGCode(com)) return; // For X Y Z E F
    float offset[2] = {Printer::convertToMM(com->hasI() ? com->I : 0),Printer::convertToMM(com->hasJ() ? com->J : 0)};
    float target[E_AXIS_ARRAY] = {Printer::realXPosition(),Printer::realYPosition(),Printer::realZPosition(),Printer::destinationSteps[E_AXIS]*Printer::invAxisStepsPerMM[E_AXIS]};
    float r;
    if (com->hasR())
    {
        /*
          We need to calculate the center of the circle that has the designated radius and passes
          through both the current position and the target position. This method calculates the following
          set of equations where [x,y] is the vector from current to target position, d == magnitude of
          that vector, h == hypotenuse of the triangle formed by the radius of the circle, the distance to
          the center of the travel vector. A vector perpendicular to the travel vector [-y,x] is scaled to the
          length of h [-y/d*h, x/d*h] and added to the center of the travel vector [x/2,y/2] to form the new point
          [i,j] at [x/2-y/d*h, y/2+x/d*h] which will be the center of our arc.

          d^2 == x^2 + y^2
          h^2 == r^2 - (d/2)^2
          i == x/2 - y/d*h
          j == y/2 + x/d*h

                                                               O <- [i,j]
                                                            -  |
                                                  r      -     |
                                                      -        |
                                                   -           | h
                                                -              |
                                  [0,0] ->  C -----------------+--------------- T  <- [x,y]
                                            | <------ d/2 ---->|

          C - Current position
          T - Target position
          O - center of circle that pass through both C and T
          d - distance from C to T
          r - designated radius
          h - distance from center of CT to O

          Expanding the equations:

          d -> sqrt(x^2 + y^2)
          h -> sqrt(4 * r^2 - x^2 - y^2)/2
          i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2
          j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2)) / sqrt(x^2 + y^2)) / 2

          Which can be written:

          i -> (x - (y * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2
          j -> (y + (x * sqrt(4 * r^2 - x^2 - y^2))/sqrt(x^2 + y^2))/2

          Which we for size and speed reasons optimize to:

          h_x2_div_d = sqrt(4 * r^2 - x^2 - y^2)/sqrt(x^2 + y^2)
          i = (x - (y * h_x2_div_d))/2
          j = (y + (x * h_x2_div_d))/2

        */
        r = Printer::convertToMM(com->R);
        // Calculate the change in position along each selected axis
        double x = target[X_AXIS]-position[X_AXIS];
        double y = target[Y_AXIS]-position[Y_AXIS];

        double h_x2_div_d = -sqrt(4 * r*r - x*x - y*y)/hypot(x,y); // == -(h * 2 / d)
        // If r is smaller than d, the arc is now traversing the complex plane beyond the reach of any
        // real CNC, and thus - for practical reasons - we will terminate promptly:
        if(isnan(h_x2_div_d))
        {
            Com::printErrorFLN(Com::tInvalidArc);
            return;
        }
        // Invert the sign of h_x2_div_d if the circle is counter clockwise (see sketch below)
        if (com->G==3)
        {
            h_x2_div_d = -h_x2_div_d;
        }

        /* The counter clockwise circle lies to the left of the target direction. When offset is positive,
           the left hand circle will be generated - when it is negative the right hand circle is generated.


                                                         T  <-- Target position

                                                         ^
              Clockwise circles with this center         |          Clockwise circles with this center will have
              will have > 180 deg of angular travel      |          < 180 deg of angular travel, which is a good thing!
                                               \         |          /
        center of arc when h_x2_div_d is positive ->  x <----- | -----> x <- center of arc when h_x2_div_d is negative
                                                         |
                                                         |

                                                         C  <-- Current position                                 */


        // Negative R is g-code-alese for "I want a circle with more than 180 degrees of travel" (go figure!),
        // even though it is advised against ever generating such circles in a single line of g-code. By
        // inverting the sign of h_x2_div_d the center of the circles is placed on the opposite side of the line of
        // travel and thus we get the unadvisably long arcs as prescribed.
        if (r < 0)
        {
            h_x2_div_d = -h_x2_div_d;
            r = -r; // Finished with r. Set to positive for mc_arc
        }
        // Complete the operation by calculating the actual center of the arc
        offset[0] = 0.5*(x-(y*h_x2_div_d));
        offset[1] = 0.5*(y+(x*h_x2_div_d));

    }
    else     // Offset mode specific computations
    {
        r = hypot(offset[0], offset[1]); // Compute arc radius for arc
    }
    // Set clockwise/counter-clockwise sign for arc computations
    uint8_t isclockwise = com->G == 2;
    // Trace the arc
    PrintLine::arc(position, target, offset, r, isclockwise);
}
#endif

/**
  \brief Execute the G command stored in com.
*/
void Commands::processGCode(GCode *com)
{
    uint32_t codenum; //throw away variable
    switch(com->G)
    {
    case 0: // G0 -> G1
    case 1: // G1
        if(com->hasS()) Printer::setNoDestinationCheck(com->S != 0);
        if(Printer::setDestinationStepsFromGCode(com)) // For X Y Z E F
#if NONLINEAR_SYSTEM
            if (!PrintLine::queueDeltaMove(ALWAYS_CHECK_ENDSTOPS, true, true))
            {
                Com::printWarningFLN(PSTR("executeGCode / queueDeltaMove returns error"));
            }
#else
            PrintLine::queueCartesianMove(ALWAYS_CHECK_ENDSTOPS, true);
#endif
#if UI_HAS_KEYS
        // ui can only execute motion commands if we are not waiting inside a move for an
        // old move to finish. For normal response times, we always leave one free after
        // sending a line. Drawback: 1 buffer line less for limited time. Since input cache
        // gets filled while waiting, the lost is neglectible.
        PrintLine::waitForXFreeLines(1, true);
#endif // UI_HAS_KEYS
        break;
#if ARC_SUPPORT
    case 2: // CW Arc
    case 3: // CCW Arc MOTION_MODE_CW_ARC: case MOTION_MODE_CCW_ARC:
        processArc(com);
        break;
#endif
    case 4: // G4 dwell
        Commands::waitUntilEndOfAllMoves();
        codenum = 0;
        if(com->hasP()) codenum = com->P; // milliseconds to wait
        if(com->hasS()) codenum = com->S * 1000; // seconds to wait
        codenum += HAL::timeInMilliseconds();  // keep track of when we started waiting
        while((uint32_t)(codenum-HAL::timeInMilliseconds())  < 2000000000 )
        {
            GCode::readFromSerial();
            Commands::checkForPeriodicalActions(true);
        }
        break;
#if FEATURE_RETRACTION && NUM_EXTRUDER > 0
    case 10: // G10 S<1 = long retract, 0 = short retract = default> retracts filament accoridng to stored setting
#if NUM_EXTRUDER > 1
        Extruder::current->retract(true, com->hasS() && com->S > 0);
#else
        Extruder::current->retract(true, false);
#endif
        break;
    case 11: // G11 S<1 = long retract, 0 = short retract = default> = Undo retraction according to stored setting
#if NUM_EXTRUDER > 1
        Extruder::current->retract(false, com->hasS() && com->S > 0);
#else
        Extruder::current->retract(false, false);
#endif
        break;
#endif // FEATURE_RETRACTION
    case 20: // G20 Units to inches
        Printer::unitIsInches = 1;
        break;
    case 21: // G21 Units to mm
        Printer::unitIsInches = 0;
        break;
    case 28:  //G28 Home all Axis one at a time
    {
        uint8_t homeAllAxis = (com->hasNoXYZ() && !com->hasE());
        if(com->hasE())
            Printer::currentPositionSteps[E_AXIS] = 0;
        if(homeAllAxis || !com->hasNoXYZ())
            Printer::homeAxis(homeAllAxis || com->hasX(),homeAllAxis || com->hasY(),homeAllAxis || com->hasZ());
        Printer::updateCurrentPosition();
    }
    break;
#if FEATURE_Z_PROBE
    case 29: // G29 3 points, build average or distortion compensation
    {
#if DISTORTION_CORRECTION
        float oldFeedrate = Printer::feedrate;
        Printer::measureDistortion();
        Printer::feedrate = oldFeedrate;
#else
        GCode::executeFString(Com::tZProbeStartScript);
        bool oldAutolevel = Printer::isAutolevelActive();
        Printer::setAutolevelActive(false);
        float sum = 0, last,oldFeedrate = Printer::feedrate;
        Printer::moveTo(EEPROM::zProbeX1(),EEPROM::zProbeY1(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
        sum = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
        if(sum < 0) break;
        Printer::moveTo(EEPROM::zProbeX2(),EEPROM::zProbeY2(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
        last = Printer::runZProbe(false,false);
        if(last < 0) break;
        sum+= last;
        Printer::moveTo(EEPROM::zProbeX3(),EEPROM::zProbeY3(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
        last = Printer::runZProbe(false,true);
        if(last < 0) break;
        sum += last;
        sum *= 0.33333333333333;
        Com::printFLN(Com::tZProbeAverage,sum);
        if(com->hasS() && com->S)
        {
#if MAX_HARDWARE_ENDSTOP_Z
#if DRIVE_SYSTEM==DELTA
            Printer::updateCurrentPosition();
            Printer::zLength += sum - Printer::currentPosition[Z_AXIS];
            Printer::updateDerivedParameter();
            Printer::homeAxis(true,true,true);
#else
            Printer::currentPositionSteps[Z_AXIS] = sum * Printer::axisStepsPerMM[Z_AXIS];
            Printer::zLength = Printer::runZMaxProbe() + sum-ENDSTOP_Z_BACK_ON_HOME;
#endif
            Com::printInfoFLN(Com::tZProbeZReset);
            Com::printFLN(Com::tZProbePrinterHeight,Printer::zLength);
#else
            Printer::currentPositionSteps[Z_AXIS] = sum * Printer::axisStepsPerMM[Z_AXIS];
            Com::printFLN(PSTR("Adjusted z origin"));
#endif
        }
        Printer::feedrate = oldFeedrate;
        Printer::setAutolevelActive(oldAutolevel);
        if(com->hasS() && com->S == 2)
            EEPROM::storeDataIntoEEPROM();
        Printer::updateCurrentPosition(true);
        printCurrentPosition(PSTR("G29 "));
        GCode::executeFString(Com::tZProbeEndScript);
        Printer::feedrate = oldFeedrate;
#endif // DISTORTION_CORRECTION
    }
    break;
    case 30: // G30 single probe set Z0
    {
        uint8_t p = (com->hasP() ? (uint8_t)com->P : 3);
        //bool oldAutolevel = Printer::isAutolevelActive();
        //Printer::setAutolevelActive(false);
        Printer::runZProbe(p & 1,p & 2);
        //Printer::setAutolevelActive(oldAutolevel);
        Printer::updateCurrentPosition(p & 1);
        //printCurrentPosition(PSTR("G30 "));
    }
    break;
    case 31:  // G31 display hall sensor output
        Endstops::update();
        Endstops::update();
        Com::printF(Com::tZProbeState);
        Com::printF(Endstops::zProbe() ? Com::tHSpace : Com::tLSpace);
        Com::println();
        break;
#if FEATURE_AUTOLEVEL
    case 32: // G32 Auto-Bed leveling
    {
#if DISTORTION_CORRECTION
        Printer::distortion.disable(true); // if level has changed, distortion is also invalid
#endif
#if DRIVE_SYSTEM == DELTA
        // It is not possible to go to the edges at the top, also users try
        // it often and wonder why the coordinate system is then wrong.
        // For that reason we ensure a correct behaviour by code.
        Printer::homeAxis(true, true, true);
        Printer::moveTo(IGNORE_COORDINATE, IGNORE_COORDINATE, EEPROM::zProbeBedDistance() + EEPROM::zProbeHeight(), IGNORE_COORDINATE, Printer::homingFeedrate[Z_AXIS]);
#endif
        GCode::executeFString(Com::tZProbeStartScript);
        //bool iterate = com->hasP() && com->P>0;
        Printer::coordinateOffset[X_AXIS] = Printer::coordinateOffset[Y_AXIS] = Printer::coordinateOffset[Z_AXIS] = 0;
        Printer::setAutolevelActive(false); // iterate
        float h1,h2,h3,hc,oldFeedrate = Printer::feedrate;
        Printer::moveTo(EEPROM::zProbeX1(),EEPROM::zProbeY1(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
        h1 = Printer::runZProbe(true,false,Z_PROBE_REPETITIONS,false);
        if(h1 < 0) break;
        Printer::moveTo(EEPROM::zProbeX2(),EEPROM::zProbeY2(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
        h2 = Printer::runZProbe(false,false);
        if(h2 < 0) break;
        Printer::moveTo(EEPROM::zProbeX3(),EEPROM::zProbeY3(),IGNORE_COORDINATE,IGNORE_COORDINATE,EEPROM::zProbeXYSpeed());
        h3 = Printer::runZProbe(false,true);
        if(h3 < 0) break;
        Printer::buildTransformationMatrix(h1,h2,h3);
        //-(Rxx*Ryz*y-Rxz*Ryx*y+(Rxz*Ryy-Rxy*Ryz)*x)/(Rxy*Ryx-Rxx*Ryy)
        // z = z-deviation from origin due to bed transformation
        float z = -((Printer::autolevelTransformation[0] * Printer::autolevelTransformation[5] -
                     Printer::autolevelTransformation[2] * Printer::autolevelTransformation[3]) *
                    (float)Printer::currentPositionSteps[Y_AXIS] * Printer::invAxisStepsPerMM[Y_AXIS] +
                    (Printer::autolevelTransformation[2] * Printer::autolevelTransformation[4] -
                     Printer::autolevelTransformation[1] * Printer::autolevelTransformation[5]) *
                    (float)Printer::currentPositionSteps[X_AXIS] * Printer::invAxisStepsPerMM[X_AXIS]) /
                  (Printer::autolevelTransformation[1] * Printer::autolevelTransformation[3] - Printer::autolevelTransformation[0] * Printer::autolevelTransformation[4]);
        Printer::zMin = 0;
        if(com->hasS() && com->S < 3 && com->S > 0)
        {
#if MAX_HARDWARE_ENDSTOP_Z
#if DRIVE_SYSTEM == DELTA
            /* Printer::offsetX = 0;
             Printer::offsetY = 0;
             Printer::moveToReal(0,0,cz,IGNORE_COORDINATE,Printer::homingFeedrate[X_AXIS]);
                 PrintLine::moveRelativeDistanceInSteps(Printer::offsetX-Printer::currentPositionSteps[X_AXIS],Printer::offsetY-Printer::currentPositionSteps[Y_AXIS],0,0,Printer::homingFeedrate[X_AXIS],true,ALWAYS_CHECK_ENDSTOPS);
                 Printer::offsetX = 0;
                 Printer::offsetY = 0;*/
            Printer::zLength += (h3 + z) - Printer::currentPosition[Z_AXIS];
#else
            int32_t zBottom = Printer::currentPositionSteps[Z_AXIS] = (h3 + z) * Printer::axisStepsPerMM[Z_AXIS];
            Printer::zLength = Printer::runZMaxProbe() + zBottom * Printer::invAxisStepsPerMM[Z_AXIS] - ENDSTOP_Z_BACK_ON_HOME;
#endif
            Com::printFLN(Com::tZProbePrinterHeight,Printer::zLength);
#else // max hardware endstop
#if DRIVE_SYSTEM != DELTA
            Printer::currentPositionSteps[Z_AXIS] = (h3 + z) * Printer::axisStepsPerMM[Z_AXIS];
#endif
#endif
            Printer::setAutolevelActive(true);
            if(com->S == 2)
                EEPROM::storeDataIntoEEPROM();
        }
        else
        {
#if DRIVE_SYSTEM != DELTA
            Printer::currentPositionSteps[Z_AXIS] = (h3 + z) * Printer::axisStepsPerMM[Z_AXIS];
#endif
            if(com->hasS() && com->S == 3)
                EEPROM::storeDataIntoEEPROM();
        }
        Printer::setAutolevelActive(true);
        Printer::updateDerivedParameter();
        Printer::updateCurrentPosition(true);
        printCurrentPosition(PSTR("G32 "));
#if DRIVE_SYSTEM == DELTA
        Printer::homeAxis(true, true, true);
#endif
        Printer::feedrate = oldFeedrate;
    }
    break;
#endif
#endif
    case 90: // G90
        Printer::relativeCoordinateMode = false;
        if(com->internalCommand)
            Com::printInfoFLN(PSTR("Absolute positioning"));
        break;
    case 91: // G91
        Printer::relativeCoordinateMode = true;
        if(com->internalCommand)
            Com::printInfoFLN(PSTR("Relative positioning"));
        break;
    case 92: // G92
    {
        float xOff = Printer::coordinateOffset[X_AXIS];
        float yOff = Printer::coordinateOffset[Y_AXIS];
        float zOff = Printer::coordinateOffset[Z_AXIS];
        if(com->hasX()) xOff = Printer::convertToMM(com->X) - Printer::currentPosition[X_AXIS];
        if(com->hasY()) yOff = Printer::convertToMM(com->Y) - Printer::currentPosition[Y_AXIS];
        if(com->hasZ()) zOff = Printer::convertToMM(com->Z) - Printer::currentPosition[Z_AXIS];
        Printer::setOrigin(xOff, yOff, zOff);
        if(com->hasE())
        {
            Printer::currentPositionSteps[E_AXIS] = Printer::convertToMM(com->E) * Printer::axisStepsPerMM[E_AXIS];
        }
    }
    break;
#if DRIVE_SYSTEM == DELTA
    case 100: // G100 Calibrate floor or rod radius
    {
        // Using manual control, adjust hot end to contact floor.
        // G100 <no arguments> No action. Avoid accidental floor reset.
        // G100 [X] [Y] [Z] set floor for argument passed in. Number ignored and may be absent.
        // G100 R with X Y or Z flag error, sets only floor or radius, not both.
        // G100 R[n] Add n to radius. Adjust to be above floor if necessary
        // G100 R[0] set radius based on current z measurement. Moves to (0,0,0)
        float currentZmm = Printer::currentPosition[Z_AXIS];
        if (currentZmm/Printer::zLength > 0.1)
        {
            Com::printErrorFLN(PSTR("Calibration code is limited to bottom 10% of Z height"));
            break;
        }
        if (com->hasR())
        {
            if (com->hasX() || com->hasY() || com->hasZ())
                Com::printErrorFLN(PSTR("Cannot set radius and floor at same time."));
            else if (com->R != 0)
            {
                //add r to radius
                if (abs(com->R) <= 10) EEPROM::incrementRodRadius(com->R);
                else Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
            }
            else
            {
                // auto set radius. Head must be at 0,0 and touching
                // Z offset will be corrected for.
                if (Printer::currentPosition[X_AXIS] == 0
                        && Printer::currentPosition[Y_AXIS] == 0)
                {
                    if(Printer::isLargeMachine())
                    {
                        // calculate radius assuming we are at surface
                        // If Z is greater than 0 it will get calculated out for correct radius
                        // Use either A or B tower as they acnhor x cartesian axis and always have
                        // Radius distance to center in simplest set up.
                        float h = Printer::deltaDiagonalStepsSquaredB.f;
                        unsigned long bSteps = Printer::currentDeltaPositionSteps[B_TOWER];
                        // The correct Rod Radius would put us here at z==0 and B height is
                        // square root (rod length squared minus rod radius squared)
                        // Reverse that to get calculated Rod Radius given B height
                        h -= RMath::sqr((float)bSteps);
                        h = sqrt(h);
                        EEPROM::setRodRadius(h*Printer::invAxisStepsPerMM[Z_AXIS]);
                    }
                    else
                    {
                        // calculate radius assuming we are at surface
                        // If Z is greater than 0 it will get calculated out for correct radius
                        // Use either A or B tower as they acnhor x cartesian axis and always have
                        // Radius distance to center in simplest set up.
                        unsigned long h = Printer::deltaDiagonalStepsSquaredB.l;
                        unsigned long bSteps = Printer::currentDeltaPositionSteps[B_TOWER];
                        // The correct Rod Radius would put us here at z==0 and B height is
                        // square root (rod length squared minus rod radius squared)
                        // Reverse that to get calculated Rod Radius given B height
                        h -= RMath::sqr(bSteps);
                        h = SQRT(h);
                        EEPROM::setRodRadius(h*Printer::invAxisStepsPerMM[Z_AXIS]);
                    }
                }
                else
                    Com::printErrorFLN(PSTR("First move to touch at x,y=0,0 to auto-set radius."));
            }
        }
        else
        {
            bool tooBig = false;
            if (com->hasX())
            {
                if (abs(com->X) <= 10)
                    EEPROM::setTowerXFloor(com->X + currentZmm + Printer::xMin);
                else tooBig = true;
            }
            if (com->hasY())
            {
                if (abs(com->Y) <= 10)
                    EEPROM::setTowerYFloor(com->Y + currentZmm + Printer::yMin);
                else tooBig = true;
            }
            if (com->hasZ())
            {
                if (abs(com->Z) <= 10)
                    EEPROM::setTowerZFloor(com->Z + currentZmm + Printer::zMin);
                else tooBig = true;
            }
            if (tooBig)
                Com::printErrorFLN(PSTR("Calibration movement is limited to 10mm."));
        }
        // after adjusting zero, physical position is out of sync with memory position
        // this could cause jerky movement or push head into print surface.
        // moving gets back into safe zero'ed position with respect to newle set floor or Radius.
        Printer::moveTo(IGNORE_COORDINATE,IGNORE_COORDINATE,12.0,IGNORE_COORDINATE,IGNORE_COORDINATE);
        break;
    }
    case 131: // G131 Remove offset
    {
        float cx,cy,cz;
        Printer::realPosition(cx,cy,cz);
        float oldfeedrate = Printer::feedrate;
        Printer::offsetX = 0;
        Printer::offsetY = 0;
        Printer::moveToReal(cx,cy,cz,IGNORE_COORDINATE,Printer::homingFeedrate[X_AXIS]);
        Printer::feedrate = oldfeedrate;
        Printer::updateCurrentPosition();
    }
    break;
    case 132: // G132 Calibrate endstop offsets
    {
// This has the probably unintended side effect of turning off leveling.
        Printer::setAutolevelActive(false); // don't let transformations change result!
        Printer::coordinateOffset[X_AXIS] = 0;
        Printer::coordinateOffset[Y_AXIS] = 0;
        Printer::coordinateOffset[Z_AXIS] = 0;
// I think this is coded incorrectly, as it depends on the biginning position of the
// of the hot end, and so should first move to x,y,z= 0,0,0, but as that may not
// be possible if the printer is not in the homes/zeroed state, the printer
// cannot safely move to 0 z coordinate without crashong into the print surface.
// so other than commenting, I'm not meddling.
// but you will always get different counts from different positions.
        Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
        int32_t m = RMath::max(Printer::stepsRemainingAtXHit,RMath::max(Printer::stepsRemainingAtYHit,Printer::stepsRemainingAtZHit));
        int32_t offx = m-Printer::stepsRemainingAtXHit;
        int32_t offy = m-Printer::stepsRemainingAtYHit;
        int32_t offz = m-Printer::stepsRemainingAtZHit;
        Com::printFLN(Com::tTower1,offx);
        Com::printFLN(Com::tTower2,offy);
        Com::printFLN(Com::tTower3,offz);
#if EEPROM_MODE != 0
        if(com->hasS() && com->S > 0)
        {
            EEPROM::setDeltaTowerXOffsetSteps(offx);
            EEPROM::setDeltaTowerYOffsetSteps(offy);
            EEPROM::setDeltaTowerZOffsetSteps(offz);
        }
#endif
        Printer::homeAxis(true,true,true);
    }
    break;
    case 133: // G133 Measure steps to top
    {
        bool oldAuto = Printer::isAutolevelActive();
        Printer::setAutolevelActive(false); // don't let transformations change result!
        Printer::currentPositionSteps[X_AXIS] = 0;
        Printer::currentPositionSteps[Y_AXIS] = 0;
        Printer::currentPositionSteps[Z_AXIS] = 0;
        Printer::coordinateOffset[X_AXIS] = 0;
        Printer::coordinateOffset[Y_AXIS] = 0;
        Printer::coordinateOffset[Z_AXIS] = 0;
        Printer::currentDeltaPositionSteps[A_TOWER] = 0;
        Printer::currentDeltaPositionSteps[B_TOWER] = 0;
        Printer::currentDeltaPositionSteps[C_TOWER] = 0;
// similar to comment above, this will get a different answer from any different starting point
// so it is unclear how this is helpful. It must start at a well defined point.
        Printer::deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
        int32_t offx = HOME_DISTANCE_STEPS-Printer::stepsRemainingAtXHit;
        int32_t offy = HOME_DISTANCE_STEPS-Printer::stepsRemainingAtYHit;
        int32_t offz = HOME_DISTANCE_STEPS-Printer::stepsRemainingAtZHit;
        Com::printFLN(Com::tTower1,offx);
        Com::printFLN(Com::tTower2,offy);
        Com::printFLN(Com::tTower3,offz);
        Printer::setAutolevelActive(oldAuto);
        Printer::homeAxis(true,true,true);
    }
    break;
    case 134: // G134
        Com::printF(PSTR("CompDelta:"),Printer::currentDeltaPositionSteps[A_TOWER]);
        Com::printF(Com::tComma,Printer::currentDeltaPositionSteps[B_TOWER]);
        Com::printFLN(Com::tComma,Printer::currentDeltaPositionSteps[C_TOWER]);
#ifdef DEBUG_REAL_POSITION
        Com::printF(PSTR("RealDelta:"),Printer::realDeltaPositionSteps[A_TOWER]);
        Com::printF(Com::tComma,Printer::realDeltaPositionSteps[B_TOWER]);
        Com::printFLN(Com::tComma,Printer::realDeltaPositionSteps[C_TOWER]);
#endif
        Printer::updateCurrentPosition();
        Com::printF(PSTR("PosFromSteps:"));
        printCurrentPosition(PSTR("G134 "));
        break;

#endif // DRIVE_SYSTEM
#if defined(NUM_MOTOR_DRIVERS) && NUM_MOTOR_DRIVERS > 0
    case 201:
        commandG201(*com);
        break;
    case 202:
        commandG202(*com);
        break;
    case 203:
        commandG203(*com);
        break;
    case 204:
        commandG204(*com);
        break;
#endif // defined
    default:
        if(Printer::debugErrors())
        {
            Com::printF(Com::tUnknownCommand);
            com->printCommand();
        }
    }
    previousMillisCmd = HAL::timeInMilliseconds();
}
/**
  \brief Execute the G command stored in com.
*/
void Commands::processMCode(GCode *com)
{
    uint32_t codenum; //throw away variable
    switch( com->M )
    {

#if SDSUPPORT
    case 20: // M20 - list SD card
        sd.ls();
        break;
    case 21: // M21 - init SD card
        sd.mount();
        break;
    case 22: //M22 - release SD card
        sd.unmount();
        break;
    case 23: //M23 - Select file
        if(com->hasString())
        {
            sd.fat.chdir();
            sd.selectFile(com->text);
        }
        break;
    case 24: //M24 - Start SD print
        sd.startPrint();
        break;
    case 25: //M25 - Pause SD print
        sd.pausePrint();
        break;
    case 26: //M26 - Set SD index
        if(com->hasS())
            sd.setIndex(com->S);
        break;
    case 27: //M27 - Get SD status
        sd.printStatus();
        break;
    case 28: //M28 - Start SD write
        if(com->hasString())
            sd.startWrite(com->text);
        break;
    case 29: //M29 - Stop SD write
        //processed in write to file routine above
        //savetosd = false;
        break;
    case 30: // M30 filename - Delete file
        if(com->hasString())
        {
            sd.fat.chdir();
            sd.deleteFile(com->text);
        }
        break;
    case 32: // M32 directoryname
        if(com->hasString())
        {
            sd.fat.chdir();
            sd.makeDirectory(com->text);
        }
        break;
#endif
    case 42: //M42 -Change pin status via gcode
        if (com->hasP())
        {
            int pin_number = com->P;
            for(uint8_t i = 0; i < (uint8_t)sizeof(sensitive_pins); i++)
            {
                if (pgm_read_byte(&sensitive_pins[i]) == pin_number)
                {
                    pin_number = -1;
                    break;
                }
            }
            if (pin_number > -1)
            {
                if(com->hasS())
                {
                    if(com->S >= 0 && com->S <= 255)
                    {
                        pinMode(pin_number, OUTPUT);
                        digitalWrite(pin_number, com->S);
                        analogWrite(pin_number, com->S);
                        Com::printF(Com::tSetOutputSpace, pin_number);
                        Com::printFLN(Com::tSpaceToSpace,(int)com->S);
                    }
                    else
                        Com::printErrorFLN(PSTR("Illegal S value for M42"));
                }
                else
                {
                    pinMode(pin_number, INPUT_PULLUP);
                    Com::printF(Com::tSpaceToSpace, pin_number);
                    Com::printFLN(Com::tSpaceIsSpace, digitalRead(pin_number));
                }
            }
            else
            {
                Com::printErrorFLN(PSTR("Pin can not be set by M42, may in invalid or in use. "));
            }
        }
        break;

    case 80: // M80 - ATX Power On
#if PS_ON_PIN>-1
        Commands::waitUntilEndOfAllMoves();
        previousMillisCmd = HAL::timeInMilliseconds();
        SET_OUTPUT(PS_ON_PIN); //GND
        Printer::setPowerOn(true);
        WRITE(PS_ON_PIN, (POWER_INVERTING ? HIGH : LOW));
#endif
        break;
    case 81: // M81 - ATX Power Off
#if PS_ON_PIN>-1
        Commands::waitUntilEndOfAllMoves();
        SET_OUTPUT(PS_ON_PIN); //GND
        Printer::setPowerOn(false);
        WRITE(PS_ON_PIN,(POWER_INVERTING ? LOW : HIGH));
#endif
        break;
    case 82: // M82
        Printer::relativeExtruderCoordinateMode = false;
        break;
    case 83: // M83
        Printer::relativeExtruderCoordinateMode = true;
        break;
    case 84: // M84
        if(com->hasS())
        {
            stepperInactiveTime = com->S * 1000;
        }
        else
        {
            Commands::waitUntilEndOfAllMoves();
            Printer::kill(true);
        }
        break;
    case 85: // M85
        if(com->hasS())
            maxInactiveTime = (int32_t)com->S * 1000;
        else
            maxInactiveTime = 0;
        break;
    case 92: // M92
        if(com->hasX()) Printer::axisStepsPerMM[X_AXIS] = com->X;
        if(com->hasY()) Printer::axisStepsPerMM[Y_AXIS] = com->Y;
        if(com->hasZ()) Printer::axisStepsPerMM[Z_AXIS] = com->Z;
        Printer::updateDerivedParameter();
        if(com->hasE())
        {
            Extruder::current->stepsPerMM = com->E;
            Extruder::selectExtruderById(Extruder::current->id);
        }
        break;
    case 99: // M99 S<time>
    {
        millis_t wait = 10000;
        if(com->hasS())
            wait = 1000*com->S;
        if(com->hasX())
            Printer::disableXStepper();
        if(com->hasY())
            Printer::disableYStepper();
        if(com->hasZ())
            Printer::disableZStepper();
        wait += HAL::timeInMilliseconds();
#ifdef DEBUG_PRINT
        debugWaitLoop = 2;
#endif
        while(wait-HAL::timeInMilliseconds() < 100000)
        {
            Printer::defaultLoopActions();
        }
        if(com->hasX())
            Printer::enableXStepper();
        if(com->hasY())
            Printer::enableYStepper();
        if(com->hasZ())
            Printer::enableZStepper();
    }
    break;

    case 104: // M104 temperature
#if NUM_EXTRUDER > 0
        if(reportTempsensorError()) break;
        previousMillisCmd = HAL::timeInMilliseconds();
        if(Printer::debugDryrun()) break;
#ifdef EXACT_TEMPERATURE_TIMING
        Commands::waitUntilEndOfAllMoves();
#else
        if(com->hasP() || (com->hasS() && com->S == 0))
            Commands::waitUntilEndOfAllMoves();
#endif
        if (com->hasS())
        {
            if(com->hasT())
                Extruder::setTemperatureForExtruder(com->S, com->T, com->hasF() && com->F > 0);
            else
                Extruder::setTemperatureForExtruder(com->S, Extruder::current->id, com->hasF() && com->F > 0);
        }
#endif
        break;
    case 140: // M140 set bed temp
        if(reportTempsensorError()) break;
        previousMillisCmd = HAL::timeInMilliseconds();
        if(Printer::debugDryrun()) break;
        if (com->hasS()) Extruder::setHeatedBedTemperature(com->S,com->hasF() && com->F > 0);
        break;
    case 105: // M105  get temperature. Always returns the current temperature, doesn't wait until move stopped
        printTemperatures(com->hasX());
        break;
    case 109: // M109 - Wait for extruder heater to reach target.
#if NUM_EXTRUDER > 0
    {
        if(reportTempsensorError()) break;
        previousMillisCmd = HAL::timeInMilliseconds();
        if(Printer::debugDryrun()) break;
        UI_STATUS_UPD(UI_TEXT_HEATING_EXTRUDER);
        Commands::waitUntilEndOfAllMoves();
        Extruder *actExtruder = Extruder::current;
        if(com->hasT() && com->T < NUM_EXTRUDER) actExtruder = &extruder[com->T];
        if (com->hasS()) Extruder::setTemperatureForExtruder(com->S,actExtruder->id,com->hasF() && com->F > 0);
#if defined(SKIP_M109_IF_WITHIN) && SKIP_M109_IF_WITHIN > 0
        if(abs(actExtruder->tempControl.currentTemperatureC - actExtruder->tempControl.targetTemperatureC) < (SKIP_M109_IF_WITHIN)) break; // Already in range
#endif
        EVENT_WAITING_HEATER(actExtruder->id);
        bool dirRising = actExtruder->tempControl.targetTemperature > actExtruder->tempControl.currentTemperature;
        millis_t printedTime = HAL::timeInMilliseconds();
        millis_t waituntil = 0;
#if RETRACT_DURING_HEATUP
        uint8_t retracted = 0;
#endif
        millis_t currentTime;
        do
        {
            previousMillisCmd = currentTime = HAL::timeInMilliseconds();
            if( (currentTime - printedTime) > 1000 )   //Print Temp Reading every 1 second while heating up.
            {
                printTemperatures();
                printedTime = currentTime;
            }
            Commands::checkForPeriodicalActions(true);
            //gcode_read_serial();
#if RETRACT_DURING_HEATUP
            if (actExtruder == Extruder::current && actExtruder->waitRetractUnits > 0 && !retracted && dirRising && actExtruder->tempControl.currentTemperatureC > actExtruder->waitRetractTemperature)
            {
                PrintLine::moveRelativeDistanceInSteps(0, 0, 0, -actExtruder->waitRetractUnits * Printer::axisStepsPerMM[E_AXIS], actExtruder->maxFeedrate / 4, false, false);
                retracted = 1;
            }
#endif
            if((waituntil == 0 &&
                    (dirRising ? actExtruder->tempControl.currentTemperatureC >= actExtruder->tempControl.targetTemperatureC - 1
                     : actExtruder->tempControl.currentTemperatureC <= actExtruder->tempControl.targetTemperatureC + 1))
#if defined(TEMP_HYSTERESIS) && TEMP_HYSTERESIS>=1
                    || (waituntil != 0 && (abs(actExtruder->tempControl.currentTemperatureC - actExtruder->tempControl.targetTemperatureC)) > TEMP_HYSTERESIS)
#endif
              )
            {
                waituntil = currentTime + 1000UL*(millis_t)actExtruder->watchPeriod; // now wait for temp. to stabalize
            }
        }
        while(waituntil == 0 || (waituntil != 0 && (millis_t)(waituntil - currentTime) < 2000000000UL));
#if RETRACT_DURING_HEATUP
        if (retracted && actExtruder == Extruder::current)
        {
            PrintLine::moveRelativeDistanceInSteps(0, 0, 0, actExtruder->waitRetractUnits * Printer::axisStepsPerMM[E_AXIS], actExtruder->maxFeedrate / 4, false, false);
        }
#endif
        EVENT_HEATING_FINISHED(actExtruder->id);
    }
    UI_CLEAR_STATUS;
#endif
    previousMillisCmd = HAL::timeInMilliseconds();
    break;
    case 190: // M190 - Wait bed for heater to reach target.
#if HAVE_HEATED_BED
        if(Printer::debugDryrun()) break;
        UI_STATUS_UPD(UI_TEXT_HEATING_BED);
        Commands::waitUntilEndOfAllMoves();
#if HAVE_HEATED_BED
        if (com->hasS()) Extruder::setHeatedBedTemperature(com->S,com->hasF() && com->F > 0);
#if defined(SKIP_M190_IF_WITHIN) && SKIP_M190_IF_WITHIN>0
        if(abs(heatedBedController.currentTemperatureC-heatedBedController.targetTemperatureC) < SKIP_M190_IF_WITHIN) break;
#endif
        EVENT_WAITING_HEATER(-1);
        codenum = HAL::timeInMilliseconds();
        while(heatedBedController.currentTemperatureC + 0.5 < heatedBedController.targetTemperatureC)
        {
            if( (HAL::timeInMilliseconds()-codenum) > 1000 )   //Print Temp Reading every 1 second while heating up.
            {
                printTemperatures();
                codenum = previousMillisCmd = HAL::timeInMilliseconds();
            }
            Commands::checkForPeriodicalActions(true);
        }
#endif
        EVENT_HEATING_FINISHED(-1);
#endif
        UI_CLEAR_STATUS;
        previousMillisCmd = HAL::timeInMilliseconds();
        break;
    case 116: // Wait for temperatures to reach target temperature
        for(fast8_t h = 0; h < NUM_TEMPERATURE_LOOPS; h++) {
            EVENT_WAITING_HEATER(h < NUM_EXTRUDER ? h : -1);
            tempController[h]->waitForTargetTemperature();
            EVENT_HEATING_FINISHED(h < NUM_EXTRUDER ? h : -1);
        }
        break;

#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
    case 106: // M106 Fan On
        if(!(Printer::flag2 & PRINTER_FLAG2_IGNORE_M106_COMMAND))
        {
        setFanSpeed(com->hasS() ? com->S : 255, com->hasP());
        }
        break;
    case 107: // M107 Fan Off
        setFanSpeed(0, com->hasP());
        break;
#endif
    case 111: // M111 enable/disable run time debug flags
        if(com->hasS()) Printer::debugLevel = com->S;
        if(com->hasP())
        {
            if (com->P > 0) Printer::debugLevel |= com->P;
            else Printer::debugLevel &= ~(-com->P);
        }
        if(Printer::debugDryrun())   // simulate movements without printing
        {
            Extruder::setTemperatureForExtruder(0, 0);
#if NUM_EXTRUDER>1
            for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
                Extruder::setTemperatureForExtruder(0, i);
#else
            Extruder::setTemperatureForExtruder(0, 0);
#endif
#if HEATED_BED_TYPE!=0
            target_bed_raw = 0;
#endif
        }
        break;
    case 115: // M115
        Com::printFLN(Com::tFirmware);
        reportPrinterUsage();
        break;
    case 114: // M114
        printCurrentPosition(PSTR("M114 "));
        break;
    case 117: // M117 message to lcd
        if(com->hasString())
        {
            UI_STATUS_UPD_RAM(com->text);
        }
        break;
    case 119: // M119
        Commands::waitUntilEndOfAllMoves();
        Endstops::update();
        Endstops::update(); // double test to get right signal. Needed for crosstalk protection.
        Endstops::report();
        break;
#if BEEPER_TYPE>0
    case 120: // M120 Test beeper function
        if(com->hasS() && com->hasP())
            beep(com->S, com->P); // Beep test
        break;
#endif
#if MIXING_EXTRUDER > 0
    case 163: // M163 S<extruderNum> P<weight>  - Set weight for this mixing extruder drive
        if(com->hasS() && com->hasP() && com->S < NUM_EXTRUDER && com->S >= 0)
            Extruder::setMixingWeight(com->S, com->P);
        break;
    case 164: /// M164 S<virtNum> P<0 = dont store eeprom,1 = store to eeprom> - Store weights as virtual extruder S
        if(!com->hasS() || com->S < 0 || com->S >= VIRTUAL_EXTRUDER) break; // ignore illigal values
        for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
        {
            extruder[i].virtualWeights[com->S] = extruder[i].mixingW;
        }
#if EEPROM_MODE != 0
        if(com->hasP() && com->P != 0)  // store permanently to eeprom
            EEPROM::storeMixingRatios();
#endif
        break;
#endif // MIXING_EXTRUDER
    case 200: // M200 T<extruder> D<diameter>
    {
        uint8_t extruderId = Extruder::current->id;
        if(com->hasT() && com->T < NUM_EXTRUDER)
            extruderId = com->T;
        float d = 0;
        if(com->hasR())
            d = com->R;
        if(com->hasD())
            d = com->D;
        extruder[extruderId].diameter = d;
        if(extruderId == Extruder::current->id)
            changeFlowrateMultiply(Printer::extrudeMultiply);
        if(d == 0)
        {
            Com::printFLN(PSTR("Disabled volumetric extrusion for extruder "),static_cast<int>(extruderId));
        }
        else
        {
            Com::printF(PSTR("Set volumetric extrusion for extruder "),static_cast<int>(extruderId));
            Com::printFLN(PSTR(" to "),d);
        }
    }
    break;
#if RAMP_ACCELERATION
    case 201: // M201
        if(com->hasX()) Printer::maxAccelerationMMPerSquareSecond[X_AXIS] = com->X;
        if(com->hasY()) Printer::maxAccelerationMMPerSquareSecond[Y_AXIS] = com->Y;
        if(com->hasZ()) Printer::maxAccelerationMMPerSquareSecond[Z_AXIS] = com->Z;
        if(com->hasE()) Printer::maxAccelerationMMPerSquareSecond[E_AXIS] = com->E;
        Printer::updateDerivedParameter();
        break;
    case 202: // M202
        if(com->hasX()) Printer::maxTravelAccelerationMMPerSquareSecond[X_AXIS] = com->X;
        if(com->hasY()) Printer::maxTravelAccelerationMMPerSquareSecond[Y_AXIS] = com->Y;
        if(com->hasZ()) Printer::maxTravelAccelerationMMPerSquareSecond[Z_AXIS] = com->Z;
        if(com->hasE()) Printer::maxTravelAccelerationMMPerSquareSecond[E_AXIS] = com->E;
        Printer::updateDerivedParameter();
        break;
#endif
    case 203: // M203 Temperature monitor
        if(com->hasS())
        {
            if(com->S<NUM_EXTRUDER) manageMonitor = com->S;
#if HAVE_HEATED_BED
            else manageMonitor=NUM_EXTRUDER; // Set 100 to heated bed
#endif
        }
        break;
    case 204: // M204
    {
        TemperatureController *temp = &Extruder::current->tempControl;
        if(com->hasS())
        {
            if(com->S<0) break;
            if(com->S<NUM_EXTRUDER) temp = &extruder[com->S].tempControl;
#if HAVE_HEATED_BED
            else temp = &heatedBedController;
#else
            else break;
#endif
        }
        if(com->hasX()) temp->pidPGain = com->X;
        if(com->hasY()) temp->pidIGain = com->Y;
        if(com->hasZ()) temp->pidDGain = com->Z;
        temp->updateTempControlVars();
    }
    break;
    case 205: // M205 Show EEPROM settings
        EEPROM::writeSettings();
        break;
    case 206: // M206 T[type] P[pos] [Sint(long] [Xfloat]  Set eeprom value
        EEPROM::update(com);
        break;
    case 207: // M207 X<XY jerk> Z<Z Jerk>
        if(com->hasX())
            Printer::maxJerk = com->X;
        if(com->hasE())
        {
            Extruder::current->maxStartFeedrate = com->E;
            Extruder::selectExtruderById(Extruder::current->id);
        }
#if DRIVE_SYSTEM != DELTA
        if(com->hasZ())
            Printer::maxZJerk = com->Z;
        Com::printF(Com::tJerkColon,Printer::maxJerk);
        Com::printFLN(Com::tZJerkColon,Printer::maxZJerk);
#else
        Com::printFLN(Com::tJerkColon,Printer::maxJerk);
#endif
        break;
    case 209: // M209 S<0/1> Enable/disable autoretraction
        if(com->hasS())
            Printer::setAutoretract(com->S != 0);
        break;
    case 220: // M220 S<Feedrate multiplier in percent>
        changeFeedrateMultiply(com->getS(100));
        break;
    case 221: // M221 S<Extrusion flow multiplier in percent>
        changeFlowrateMultiply(com->getS(100));
        break;
#if USE_ADVANCE
    case 223: // M223 Extruder interrupt test
        if(com->hasS())
        {
            InterruptProtectedBlock noInts;
            Printer::extruderStepsNeeded += com->S;
        }
        break;
    case 232: // M232
        Com::printF(Com::tLinearStepsColon,maxadv2);
#if ENABLE_QUADRATIC_ADVANCE
        Com::printF(Com::tQuadraticStepsColon,maxadv);
#endif
        Com::printFLN(Com::tCommaSpeedEqual,maxadvspeed);
#if ENABLE_QUADRATIC_ADVANCE
        maxadv=0;
#endif
        maxadv2=0;
        maxadvspeed=0;
        break;
#endif
#if USE_ADVANCE
    case 233: // M233
        if(com->hasY())
            Extruder::current->advanceL = com->Y;
        Com::printF(Com::tLinearLColon,Extruder::current->advanceL);
#if ENABLE_QUADRATIC_ADVANCE
        if(com->hasX())
            Extruder::current->advanceK = com->X;
        Com::printF(Com::tQuadraticKColon,Extruder::current->advanceK);
#endif
        Com::println();
        Printer::updateAdvanceFlags();
        break;
#endif
#if Z_HOME_DIR>0 && MAX_HARDWARE_ENDSTOP_Z
    case 251: // M251
        Printer::zLength -= Printer::currentPosition[Z_AXIS];
        Printer::currentPositionSteps[Z_AXIS] = 0;
        Printer::updateDerivedParameter();
#if NONLINEAR_SYSTEM
        transformCartesianStepsToDeltaSteps(Printer::currentPositionSteps, Printer::currentDeltaPositionSteps);
#endif
        Printer::updateCurrentPosition();
        Com::printFLN(Com::tZProbePrinterHeight,Printer::zLength);
#if EEPROM_MODE != 0
        EEPROM::storeDataIntoEEPROM(false);
        Com::printFLN(Com::tEEPROMUpdated);
#endif
        Commands::printCurrentPosition(PSTR("M251 "));
        break;
#endif
#if FEATURE_DITTO_PRINTING
    case 280: // M280
        if(com->hasS())   // Set ditto mode S: 0 = off, 1 = 1 extra extruder, 2 = 2 extra extruder, 3 = 3 extra extruders
        {
            Extruder::dittoMode = com->S;
        }
        break;
#endif
    case 281: // Trigger watchdog
#if FEATURE_WATCHDOG
    {
        Com::printInfoFLN(PSTR("Triggering watchdog. If activated, the printer will reset."));
        Printer::kill(false);
        HAL::delayMilliseconds(200); // write output, make sure heaters are off for safety
#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
        InterruptProtectedBlock noInts;			// don't disable interrupts on mega2560 and mega1280 because of bootloader bug
#endif
        while(1) {} // Endless loop
    }
#else
    Com::printInfoFLN(PSTR("Watchdog feature was not compiled into this version!"));
#endif
    break;
#if defined(BEEPER_PIN) && BEEPER_PIN>=0
    case 300: // M300
    {
        int beepS = 1;
        int beepP = 1000;
        if(com->hasS()) beepS = com->S;
        if(com->hasP()) beepP = com->P;
        HAL::tone(BEEPER_PIN, beepS);
        HAL::delayMilliseconds(beepP);
        HAL::noTone(BEEPER_PIN);
    }
    break;
#endif
    case 302: // M302 S<0 or 1> - allow cold extrusion. Without S parameter it will allow. S1 will disallow.
        Printer::setColdExtrusionAllowed(!com->hasS() || (com->hasS() && com->S != 0));
        break;
    case 303: // M303
    {
#if defined(TEMP_PID) && NUM_TEMPERATURE_LOOPS>0
        int temp = 150;
        int cont = 0;
        int cycles = 5;
        if(com->hasS()) temp = com->S;
        if(com->hasP()) cont = com->P;
        if(com->hasR()) cycles = static_cast<int>(com->R);
        if(cont>=NUM_TEMPERATURE_LOOPS) cont = NUM_TEMPERATURE_LOOPS;
        tempController[cont]->autotunePID(temp,cont,cycles,com->hasX());
#endif
    }
    break;

#if FEATURE_AUTOLEVEL
    case 320: // M320 Activate autolevel
        Printer::setAutolevelActive(true);
        if(com->hasS() && com->S)
        {
            EEPROM::storeDataIntoEEPROM();
        }
        break;
    case 321: // M321 Deactivate autoleveling
        Printer::setAutolevelActive(false);
        if(com->hasS() && com->S)
        {
            if(com->S == 3)
                Printer::resetTransformationMatrix(false);
            EEPROM::storeDataIntoEEPROM();
        }
        break;
    case 322: // M322 Reset autoeveling matrix
        Printer::resetTransformationMatrix(false);
        if(com->hasS() && com->S)
        {
            EEPROM::storeDataIntoEEPROM();
        }
        break;
#endif // FEATURE_AUTOLEVEL
#if DISTORTION_CORRECTION
    case 323: // M323 S0/S1 enable disable distortion correction P0 = not permanent, P1 = permanent = default
        if(com->hasS())
        {
            if(com->S > 0)
                Printer::distortion.enable(com->hasP() && com->P == 1);
            else
                Printer::distortion.disable(com->hasP() && com->P == 1);
        }
        else
        {
            Printer::distortion.reportStatus();
        }
        break;
#endif // DISTORTION_CORRECTION
#if FEATURE_SERVO
    case 340: // M340
        if(com->hasP() && com->P<4 && com->P>=0)
        {
            int s = 0;
            if(com->hasS())
                s = com->S;
            uint16_t r = 0;
            if(com->hasR())    // auto off time in ms
                r = com->R;
            HAL::servoMicroseconds(com->P,s,r);
        }
        break;
#endif // FEATURE_SERVO
    case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
    {
        OUT_P_LN("Set Microstepping");
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
        if(com->hasS()) for(int i = 0; i <= 4; i++) microstepMode(i, com->S);
        if(com->hasX()) microstepMode(0, (uint8_t)com->X);
        if(com->hasY()) microstepMode(1, (uint8_t)com->Y);
        if(com->hasZ()) microstepMode(2, (uint8_t)com->Z);
        if(com->hasE()) microstepMode(3, (uint8_t)com->E);
        if(com->hasP()) microstepMode(4, com->P); // Original B but is not supported here
        microstepReadings();
#endif
    }
    break;
    case 355: // M355 S<0/1> - Turn case light on/off, no S = report status
        if(com->hasS())
        {
            Printer::setCaseLight(com->S);
        }
        else
            Printer::reportCaseLightStatus();
        break;
    case 360: // M360 - show configuration
        Printer::showConfiguration();
        break;
    case 400: // M400 Finish all moves
        Commands::waitUntilEndOfAllMoves();
        break;
    case 401: // M401 Memory position
        Printer::MemoryPosition();
        break;
    case 402: // M402 Go to stored position
        Printer::GoToMemoryPosition(com->hasX(),com->hasY(),com->hasZ(),com->hasE(),(com->hasF() ? com->F : Printer::feedrate));
        break;
    case 500: // M500
    {
#if EEPROM_MODE != 0
        EEPROM::storeDataIntoEEPROM(false);
        Com::printInfoFLN(Com::tConfigStoredEEPROM);
#else
        Com::printErrorFLN(Com::tNoEEPROMSupport);
#endif
    }
    break;
    case 501: // M501
    {
#if EEPROM_MODE != 0
        EEPROM::readDataFromEEPROM(true);
        Extruder::selectExtruderById(Extruder::current->id);
        Com::printInfoFLN(Com::tConfigLoadedEEPROM);
#else
        Com::printErrorFLN(Com::tNoEEPROMSupport);
#endif
    }
    break;
    case 502: // M502
        EEPROM::restoreEEPROMSettingsFromConfiguration();
        break;
#if EXTRUDER_JAM_CONTROL
#ifdef DEBUG_JAM
    case 512:
        Com::printFLN(PSTR("Jam signal:"),(int16_t)READ(EXT0_JAM_PIN));
        break;
#endif // DEBUG_JAM
    case 513:
        Extruder::markAllUnjammed();
        break;
#endif // EXTRUDER_JAM_CONTROL
#ifdef DEBUG_QUEUE_MOVE
    case 533: // M533 Write move data
        Com::printF(PSTR("Buf:"),(int)PrintLine::linesCount);
        Com::printF(PSTR(",LP:"),(int)PrintLine::linesPos);
        Com::printFLN(PSTR(",WP:"),(int)PrintLine::linesWritePos);
        if(PrintLine::cur == NULL)
        {
            Com::printFLN(PSTR("No move"));
            if(PrintLine::linesCount > 0)
            {
                PrintLine &cur = PrintLine::lines[PrintLine::linesPos];
                Com::printF(PSTR("JFlags:"), (int)cur.joinFlags);
                Com::printFLN(PSTR("Flags:"), (int)cur.flags);
                if(cur.isWarmUp())
                {
                    Com::printFLN(PSTR("warmup:"), (int)cur.getWaitForXLinesFilled());
                }
            }
        }
        else
        {
            Com::printF(PSTR("Rem:"), PrintLine::cur->stepsRemaining);
            Com::printFLN(PSTR("Int:"), Printer::interval);
        }
        break;
#endif // DEBUG_QUEUE_MOVE
#ifdef DEBUG_SEGMENT_LENGTH
    case 534: // M534
        Com::printFLN(PSTR("Max. segment size:"), Printer::maxRealSegmentLength);
        if(com->hasS())
            Printer::maxRealSegmentLength = 0;
        break;
#endif
#ifdef DEBUG_REAL_JERK
        Com::printFLN(PSTR("Max. jerk measured:"), Printer::maxRealJerk);
        if(com->hasS())
            Printer::maxRealJerk = 0;
        break;
#endif
        /*      case 535:  // M535
                    Com::printF(PSTR("Last commanded position:"),Printer::lastCmdPos[X_AXIS]);
                    Com::printF(Com::tComma,Printer::lastCmdPos[Y_AXIS]);
                    Com::printFLN(Com::tComma,Printer::lastCmdPos[Z_AXIS]);
                    Com::printF(PSTR("Current position:"),Printer::currentPosition[X_AXIS]);
                    Com::printF(Com::tComma,Printer::currentPosition[Y_AXIS]);
                    Com::printFLN(Com::tComma,Printer::currentPosition[Z_AXIS]);
                    Com::printF(PSTR("Position steps:"),Printer::currentPositionSteps[X_AXIS]);
                    Com::printF(Com::tComma,Printer::currentPositionSteps[Y_AXIS]);
                    Com::printFLN(Com::tComma,Printer::currentPositionSteps[Z_AXIS]);
        #if NONLINEAR_SYSTEM
              Com::printF(PSTR("Nonlin. position steps:"),Printer::currentDeltaPositionSteps[A_TOWER]);
              Com::printF(Com::tComma,Printer::currentDeltaPositionSteps[B_TOWER]);
              Com::printFLN(Com::tComma,Printer::currentDeltaPositionSteps[C_TOWER]);
        #endif // NONLINEAR_SYSTEM
                    break;*/
        /* case 700: // M700 test new square root function
              if(com->hasS())
                  Com::printFLN(Com::tInfo,(int32_t)HAL::integerSqrt(com->S));
              break;*/
#if FEATURE_CONTROLLER != NO_CONTROLLER && FEATURE_RETRACTION
    case 600:
        uid.executeAction(UI_ACTION_WIZARD_FILAMENTCHANGE, true);
        break;
#endif
    case 601:
        if(com->hasS() && com->S > 0)
            Extruder::pauseExtruders();
        else
            Extruder::unpauseExtruders();
        break;
    case 602:
        Commands::waitUntilEndOfAllMoves();
        if(com->hasS()) Printer::setDebugJam(com->S > 0);
        if(com->hasP()) Printer::setJamcontrolDisabled(com->P > 0);
        break;
    case 603:
        Printer::setInterruptEvent(PRINTER_INTERRUPT_EVENT_JAM_DETECTED, true);
        break;
    case 907: // M907 Set digital trimpot/DAC motor current using axis codes.
        {
        #if STEPPER_CURRENT_CONTROL != CURRENT_CONTROL_MANUAL
           // If "S" is specified, use that as initial default value, then update each axis w/ specific values as found later.
           if(com->hasS()) {
             for(int i = 0;i < 10;i++) {
               setMotorCurrentPercent(i, com->S);
             }
           }

           if(com->hasX()) setMotorCurrentPercent(0, (float)com->X);
           if(com->hasY()) setMotorCurrentPercent(1, (float)com->Y);
           if(com->hasZ()) setMotorCurrentPercent(2, (float)com->Z);
           if(com->hasE()) setMotorCurrentPercent(3, (float)com->E);
        #endif
        }
        break;
    case 908: // M908 Control digital trimpot directly.
    {
#if STEPPER_CURRENT_CONTROL != CURRENT_CONTROL_MANUAL
        uint8_t channel,current;
        if(com->hasP() && com->hasS())
            setMotorCurrent((uint8_t)com->P, (unsigned int)com->S);
#endif
    }
    break;
    case 909: // M909 Read digital trimpot settings.
    {
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_MCP4728
    dacPrintValues();
#endif
    }
    break;
    case 910: // M910 - Commit digipot/DAC value to external EEPROM
#if STEPPER_CURRENT_CONTROL == CURRENT_CONTROL_MCP4728
    dacCommitEeprom();
#endif
    break;
    default:
        if(Printer::debugErrors())
        {
            Com::printF(Com::tUnknownCommand);
            com->printCommand();
        }
    }
}

/**
  \brief Execute the command stored in com.
*/
void Commands::executeGCode(GCode *com)
{
    if (INCLUDE_DEBUG_COMMUNICATION)
    {
        if(Printer::debugCommunication())
        {
            if(com->hasG() || (com->hasM() && com->M != 111))
            {
                previousMillisCmd = HAL::timeInMilliseconds();
                return;
            }
        }
    }
    if(com->hasG()) processGCode(com);
    else if(com->hasM()) processMCode(com);
    else if(com->hasT())      // Process T code
    {
        Commands::waitUntilEndOfAllMoves();
        Extruder::selectExtruderById(com->T);
    }
    else
    {
        if(Printer::debugErrors())
        {
            Com::printF(Com::tUnknownCommand);
            com->printCommand();
        }
    }
}

void Commands::emergencyStop()
{
#if defined(KILL_METHOD) && KILL_METHOD == 1
    HAL::resetHardware();
#else
    //HAL::forbidInterrupts(); // Don't allow interrupts to do their work
    Printer::kill(false);
    Extruder::manageTemperatures();
    for(uint8_t i = 0; i < NUM_EXTRUDER + 3; i++)
        pwm_pos[i] = 0;
#if EXT0_HEATER_PIN > -1
    WRITE(EXT0_HEATER_PIN,HEATER_PINS_INVERTED);
#endif
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN > -1 && NUM_EXTRUDER > 1
    WRITE(EXT1_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT2_HEATER_PIN) && EXT2_HEATER_PIN > -1 && NUM_EXTRUDER > 2
    WRITE(EXT2_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT3_HEATER_PIN) && EXT3_HEATER_PIN > -1 && NUM_EXTRUDER > 3
    WRITE(EXT3_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT4_HEATER_PIN) && EXT4_HEATER_PIN > -1 && NUM_EXTRUDER > 4
    WRITE(EXT4_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT5_HEATER_PIN) && EXT5_HEATER_PIN > -1 && NUM_EXTRUDER > 5
    WRITE(EXT5_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if FAN_PIN > -1 && FEATURE_FAN_CONTROL
    WRITE(FAN_PIN, 0);
#endif
#if HEATED_BED_HEATER_PIN > -1
    WRITE(HEATED_BED_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
    HAL::delayMilliseconds(200);
    InterruptProtectedBlock noInts;
    while(1) {}
#endif
}

void Commands::checkFreeMemory()
{
    int newfree = HAL::getFreeRam();
    if(newfree < lowestRAMValue)
        lowestRAMValue = newfree;
}

void Commands::writeLowestFreeRAM()
{
    if(lowestRAMValueSend > lowestRAMValue)
    {
        lowestRAMValueSend = lowestRAMValue;
        Com::printFLN(Com::tFreeRAM, lowestRAMValue);
    }
}
