Initial commit

7 files changed, 835 insertions, 0 deletions

diff --git a/Marlin/src/gcode/motion/G0_G1.cpp b/Marlin/src/gcode/motion/G0_G1.cpp
new file mode 100644
index 0000000..9ac49bd
--- /dev/null
+++ b/Marlin/src/gcode/motion/G0_G1.cpp
@@ -0,0 +1,121 @@
+/**
+ * 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/>.
+ *
+ */
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+
+#include "../../MarlinCore.h"
+
+#if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
+  #include "../../feature/fwretract.h"
+#endif
+
+#include "../../sd/cardreader.h"
+
+#if ENABLED(NANODLP_Z_SYNC)
+  #include "../../module/stepper.h"
+#endif
+
+extern xyze_pos_t destination;
+
+#if ENABLED(VARIABLE_G0_FEEDRATE)
+  feedRate_t fast_move_feedrate = MMM_TO_MMS(G0_FEEDRATE);
+#endif
+
+/**
+ * G0, G1: Coordinated movement of X Y Z E axes
+ */
+void GcodeSuite::G0_G1(TERN_(HAS_FAST_MOVES, const bool fast_move/*=false*/)) {
+
+  if (IsRunning()
+    #if ENABLED(NO_MOTION_BEFORE_HOMING)
+      && !homing_needed_error(
+          (parser.seen('X') ? _BV(X_AXIS) : 0)
+        | (parser.seen('Y') ? _BV(Y_AXIS) : 0)
+        | (parser.seen('Z') ? _BV(Z_AXIS) : 0) )
+    #endif
+  ) {
+
+    #ifdef G0_FEEDRATE
+      feedRate_t old_feedrate;
+      #if ENABLED(VARIABLE_G0_FEEDRATE)
+        if (fast_move) {
+          old_feedrate = feedrate_mm_s;             // Back up the (old) motion mode feedrate
+          feedrate_mm_s = fast_move_feedrate;       // Get G0 feedrate from last usage
+        }
+      #endif
+    #endif
+
+    get_destination_from_command();                 // Get X Y Z E F (and set cutter power)
+
+    #ifdef G0_FEEDRATE
+      if (fast_move) {
+        #if ENABLED(VARIABLE_G0_FEEDRATE)
+          fast_move_feedrate = feedrate_mm_s;       // Save feedrate for the next G0
+        #else
+          old_feedrate = feedrate_mm_s;             // Back up the (new) motion mode feedrate
+          feedrate_mm_s = MMM_TO_MMS(G0_FEEDRATE);  // Get the fixed G0 feedrate
+        #endif
+      }
+    #endif
+
+    #if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT)
+
+      if (MIN_AUTORETRACT <= MAX_AUTORETRACT) {
+        // When M209 Autoretract is enabled, convert E-only moves to firmware retract/recover moves
+        if (fwretract.autoretract_enabled && parser.seen('E') && !(parser.seen('X') || parser.seen('Y') || parser.seen('Z'))) {
+          const float echange = destination.e - current_position.e;
+          // Is this a retract or recover move?
+          if (WITHIN(ABS(echange), MIN_AUTORETRACT, MAX_AUTORETRACT) && fwretract.retracted[active_extruder] == (echange > 0.0)) {
+            current_position.e = destination.e;       // Hide a G1-based retract/recover from calculations
+            sync_plan_position_e();                   // AND from the planner
+            return fwretract.retract(echange < 0.0);  // Firmware-based retract/recover (double-retract ignored)
+          }
+        }
+      }
+
+    #endif // FWRETRACT
+
+    #if IS_SCARA
+      fast_move ? prepare_fast_move_to_destination() : prepare_line_to_destination();
+    #else
+      prepare_line_to_destination();
+    #endif
+
+    #ifdef G0_FEEDRATE
+      // Restore the motion mode feedrate
+      if (fast_move) feedrate_mm_s = old_feedrate;
+    #endif
+
+    #if ENABLED(NANODLP_Z_SYNC)
+      #if ENABLED(NANODLP_ALL_AXIS)
+        #define _MOVE_SYNC parser.seenval('X') || parser.seenval('Y') || parser.seenval('Z')  // For any move wait and output sync message
+      #else
+        #define _MOVE_SYNC parser.seenval('Z')  // Only for Z move
+      #endif
+      if (_MOVE_SYNC) {
+        planner.synchronize();
+        SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
+      }
+    #endif
+  }
+}
diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp
new file mode 100644
index 0000000..61e5024
--- /dev/null
+++ b/Marlin/src/gcode/motion/G2_G3.cpp
@@ -0,0 +1,370 @@
+/**
+ * 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/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(ARC_SUPPORT)
+
+#include "../gcode.h"
+#include "../../module/motion.h"
+#include "../../module/planner.h"
+#include "../../module/temperature.h"
+
+#if ENABLED(DELTA)
+  #include "../../module/delta.h"
+#elif ENABLED(SCARA)
+  #include "../../module/scara.h"
+#endif
+
+#if N_ARC_CORRECTION < 1
+  #undef N_ARC_CORRECTION
+  #define N_ARC_CORRECTION 1
+#endif
+
+/**
+ * Plan an arc in 2 dimensions, with optional linear motion in a 3rd dimension
+ *
+ * The arc is traced by generating many small linear segments, as configured by
+ * MM_PER_ARC_SEGMENT (Default 1mm). In the future we hope more slicers will include
+ * an option to generate G2/G3 arcs for curved surfaces, as this will allow faster
+ * boards to produce much smoother curved surfaces.
+ */
+void plan_arc(
+  const xyze_pos_t &cart,   // Destination position
+  const ab_float_t &offset, // Center of rotation relative to current_position
+  const bool clockwise,     // Clockwise?
+  const uint8_t circles     // Take the scenic route
+) {
+  #if ENABLED(CNC_WORKSPACE_PLANES)
+    AxisEnum p_axis, q_axis, l_axis;
+    switch (gcode.workspace_plane) {
+      default:
+      case GcodeSuite::PLANE_XY: p_axis = X_AXIS; q_axis = Y_AXIS; l_axis = Z_AXIS; break;
+      case GcodeSuite::PLANE_YZ: p_axis = Y_AXIS; q_axis = Z_AXIS; l_axis = X_AXIS; break;
+      case GcodeSuite::PLANE_ZX: p_axis = Z_AXIS; q_axis = X_AXIS; l_axis = Y_AXIS; break;
+    }
+  #else
+    constexpr AxisEnum p_axis = X_AXIS, q_axis = Y_AXIS, l_axis = Z_AXIS;
+  #endif
+
+  // Radius vector from center to current location
+  ab_float_t rvec = -offset;
+
+  const float radius = HYPOT(rvec.a, rvec.b),
+              center_P = current_position[p_axis] - rvec.a,
+              center_Q = current_position[q_axis] - rvec.b,
+              rt_X = cart[p_axis] - center_P,
+              rt_Y = cart[q_axis] - center_Q,
+              start_L = current_position[l_axis];
+
+  #ifdef MIN_ARC_SEGMENTS
+    uint16_t min_segments = MIN_ARC_SEGMENTS;
+  #else
+    constexpr uint16_t min_segments = 1;
+  #endif
+
+  // Angle of rotation between position and target from the circle center.
+  float angular_travel;
+
+  // Do a full circle if starting and ending positions are "identical"
+  if (NEAR(current_position[p_axis], cart[p_axis]) && NEAR(current_position[q_axis], cart[q_axis])) {
+    // Preserve direction for circles
+    angular_travel = clockwise ? -RADIANS(360) : RADIANS(360);
+  }
+  else {
+    // Calculate the angle
+    angular_travel = ATAN2(rvec.a * rt_Y - rvec.b * rt_X, rvec.a * rt_X + rvec.b * rt_Y);
+
+    // Angular travel too small to detect? Just return.
+    if (!angular_travel) return;
+
+    // Make sure angular travel over 180 degrees goes the other way around.
+    switch (((angular_travel < 0) << 1) | clockwise) {
+      case 1: angular_travel -= RADIANS(360); break; // Positive but CW? Reverse direction.
+      case 2: angular_travel += RADIANS(360); break; // Negative but CCW? Reverse direction.
+    }
+
+    #ifdef MIN_ARC_SEGMENTS
+      min_segments = CEIL(min_segments * ABS(angular_travel) / RADIANS(360));
+      NOLESS(min_segments, 1U);
+    #endif
+  }
+
+  float linear_travel = cart[l_axis] - start_L,
+        extruder_travel = cart.e - current_position.e;
+
+  // If circling around...
+  if (ENABLED(ARC_P_CIRCLES) && circles) {
+    const float total_angular = angular_travel + circles * RADIANS(360),  // Total rotation with all circles and remainder
+              part_per_circle = RADIANS(360) / total_angular,             // Each circle's part of the total
+                 l_per_circle = linear_travel * part_per_circle,          // L movement per circle
+                 e_per_circle = extruder_travel * part_per_circle;        // E movement per circle
+    xyze_pos_t temp_position = current_position;                          // for plan_arc to compare to current_position
+    for (uint16_t n = circles; n--;) {
+      temp_position.e += e_per_circle;                                    // Destination E axis
+      temp_position[l_axis] += l_per_circle;                              // Destination L axis
+      plan_arc(temp_position, offset, clockwise, 0);                      // Plan a single whole circle
+    }
+    linear_travel = cart[l_axis] - current_position[l_axis];
+    extruder_travel = cart.e - current_position.e;
+  }
+
+  const float flat_mm = radius * angular_travel,
+              mm_of_travel = linear_travel ? HYPOT(flat_mm, linear_travel) : ABS(flat_mm);
+  if (mm_of_travel < 0.001f) return;
+
+  const feedRate_t scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s);
+
+  // Start with a nominal segment length
+  float seg_length = (
+    #ifdef ARC_SEGMENTS_PER_R
+      constrain(MM_PER_ARC_SEGMENT * radius, MM_PER_ARC_SEGMENT, ARC_SEGMENTS_PER_R)
+    #elif ARC_SEGMENTS_PER_SEC
+      _MAX(scaled_fr_mm_s * RECIPROCAL(ARC_SEGMENTS_PER_SEC), MM_PER_ARC_SEGMENT)
+    #else
+      MM_PER_ARC_SEGMENT
+    #endif
+  );
+  // Divide total travel by nominal segment length
+  uint16_t segments = FLOOR(mm_of_travel / seg_length);
+  NOLESS(segments, min_segments);         // At least some segments
+  seg_length = mm_of_travel / segments;
+
+  /**
+   * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
+   * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
+   *     r_T = [cos(phi) -sin(phi);
+   *            sin(phi)  cos(phi)] * r ;
+   *
+   * For arc generation, the center of the circle is the axis of rotation and the radius vector is
+   * defined from the circle center to the initial position. Each line segment is formed by successive
+   * vector rotations. This requires only two cos() and sin() computations to form the rotation
+   * matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
+   * all double numbers are single precision on the Arduino. (True double precision will not have
+   * round off issues for CNC applications.) Single precision error can accumulate to be greater than
+   * tool precision in some cases. Therefore, arc path correction is implemented.
+   *
+   * Small angle approximation may be used to reduce computation overhead further. This approximation
+   * holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
+   * theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
+   * to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
+   * numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
+   * issue for CNC machines with the single precision Arduino calculations.
+   *
+   * This approximation also allows plan_arc to immediately insert a line segment into the planner
+   * without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
+   * a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
+   * This is important when there are successive arc motions.
+   */
+  // Vector rotation matrix values
+  xyze_pos_t raw;
+  const float theta_per_segment = angular_travel / segments,
+              linear_per_segment = linear_travel / segments,
+              extruder_per_segment = extruder_travel / segments,
+              sq_theta_per_segment = sq(theta_per_segment),
+              sin_T = theta_per_segment - sq_theta_per_segment * theta_per_segment / 6,
+              cos_T = 1 - 0.5f * sq_theta_per_segment; // Small angle approximation
+
+  // Initialize the linear axis
+  raw[l_axis] = current_position[l_axis];
+
+  // Initialize the extruder axis
+  raw.e = current_position.e;
+
+  #if ENABLED(SCARA_FEEDRATE_SCALING)
+    const float inv_duration = scaled_fr_mm_s / seg_length;
+  #endif
+
+  millis_t next_idle_ms = millis() + 200UL;
+
+  #if N_ARC_CORRECTION > 1
+    int8_t arc_recalc_count = N_ARC_CORRECTION;
+  #endif
+
+  for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
+
+    thermalManager.manage_heater();
+    if (ELAPSED(millis(), next_idle_ms)) {
+      next_idle_ms = millis() + 200UL;
+      idle();
+    }
+
+    #if N_ARC_CORRECTION > 1
+      if (--arc_recalc_count) {
+        // Apply vector rotation matrix to previous rvec.a / 1
+        const float r_new_Y = rvec.a * sin_T + rvec.b * cos_T;
+        rvec.a = rvec.a * cos_T - rvec.b * sin_T;
+        rvec.b = r_new_Y;
+      }
+      else
+    #endif
+    {
+      #if N_ARC_CORRECTION > 1
+        arc_recalc_count = N_ARC_CORRECTION;
+      #endif
+
+      // Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
+      // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
+      // To reduce stuttering, the sin and cos could be computed at different times.
+      // For now, compute both at the same time.
+      const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment);
+      rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti;
+      rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti;
+    }
+
+    // Update raw location
+    raw[p_axis] = center_P + rvec.a;
+    raw[q_axis] = center_Q + rvec.b;
+    #if ENABLED(AUTO_BED_LEVELING_UBL)
+      raw[l_axis] = start_L;
+      UNUSED(linear_per_segment);
+    #else
+      raw[l_axis] += linear_per_segment;
+    #endif
+    raw.e += extruder_per_segment;
+
+    apply_motion_limits(raw);
+
+    #if HAS_LEVELING && !PLANNER_LEVELING
+      planner.apply_leveling(raw);
+    #endif
+
+    if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0
+      #if ENABLED(SCARA_FEEDRATE_SCALING)
+        , inv_duration
+      #endif
+    )) break;
+  }
+
+  // Ensure last segment arrives at target location.
+  raw = cart;
+  TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
+
+  apply_motion_limits(raw);
+
+  #if HAS_LEVELING && !PLANNER_LEVELING
+    planner.apply_leveling(raw);
+  #endif
+
+  planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, 0
+    #if ENABLED(SCARA_FEEDRATE_SCALING)
+      , inv_duration
+    #endif
+  );
+
+  TERN_(AUTO_BED_LEVELING_UBL, raw[l_axis] = start_L);
+  current_position = raw;
+
+} // plan_arc
+
+/**
+ * G2: Clockwise Arc
+ * G3: Counterclockwise Arc
+ *
+ * This command has two forms: IJ-form (JK, KI) and R-form.
+ *
+ *  - Depending on the current Workspace Plane orientation,
+ *    use parameters IJ/JK/KI to specify the XY/YZ/ZX offsets.
+ *    At least one of the IJ/JK/KI parameters is required.
+ *    XY/YZ/ZX can be omitted to do a complete circle.
+ *    The given XY/YZ/ZX is not error-checked. The arc ends
+ *    based on the angle of the destination.
+ *    Mixing IJ/JK/KI with R will throw an error.
+ *
+ *  - R specifies the radius. X or Y (Y or Z / Z or X) is required.
+ *    Omitting both XY/YZ/ZX will throw an error.
+ *    XY/YZ/ZX must differ from the current XY/YZ/ZX.
+ *    Mixing R with IJ/JK/KI will throw an error.
+ *
+ *  - P specifies the number of full circles to do
+ *    before the specified arc move.
+ *
+ *  Examples:
+ *
+ *    G2 I10           ; CW circle centered at X+10
+ *    G3 X20 Y12 R14   ; CCW circle with r=14 ending at X20 Y12
+ */
+void GcodeSuite::G2_G3(const bool clockwise) {
+  if (MOTION_CONDITIONS) {
+
+    #if ENABLED(SF_ARC_FIX)
+      const bool relative_mode_backup = relative_mode;
+      relative_mode = true;
+    #endif
+
+    get_destination_from_command();   // Get X Y Z E F (and set cutter power)
+
+    TERN_(SF_ARC_FIX, relative_mode = relative_mode_backup);
+
+    ab_float_t arc_offset = { 0, 0 };
+    if (parser.seenval('R')) {
+      const float r = parser.value_linear_units();
+      if (r) {
+        const xy_pos_t p1 = current_position, p2 = destination;
+        if (p1 != p2) {
+          const xy_pos_t d2 = (p2 - p1) * 0.5f;          // XY vector to midpoint of move from current
+          const float e = clockwise ^ (r < 0) ? -1 : 1,  // clockwise -1/1, counterclockwise 1/-1
+                      len = d2.magnitude(),              // Distance to mid-point of move from current
+                      h2 = (r - len) * (r + len),        // factored to reduce rounding error
+                      h = (h2 >= 0) ? SQRT(h2) : 0.0f;   // Distance to the arc pivot-point from midpoint
+          const xy_pos_t s = { -d2.y, d2.x };            // Perpendicular bisector. (Divide by len for unit vector.)
+          arc_offset = d2 + s / len * e * h;             // The calculated offset (mid-point if |r| <= len)
+        }
+      }
+    }
+    else {
+      #if ENABLED(CNC_WORKSPACE_PLANES)
+        char achar, bchar;
+        switch (gcode.workspace_plane) {
+          default:
+          case GcodeSuite::PLANE_XY: achar = 'I'; bchar = 'J'; break;
+          case GcodeSuite::PLANE_YZ: achar = 'J'; bchar = 'K'; break;
+          case GcodeSuite::PLANE_ZX: achar = 'K'; bchar = 'I'; break;
+        }
+      #else
+        constexpr char achar = 'I', bchar = 'J';
+      #endif
+      if (parser.seenval(achar)) arc_offset.a = parser.value_linear_units();
+      if (parser.seenval(bchar)) arc_offset.b = parser.value_linear_units();
+    }
+
+    if (arc_offset) {
+
+      #if ENABLED(ARC_P_CIRCLES)
+        // P indicates number of circles to do
+        const int8_t circles_to_do = parser.byteval('P');
+        if (!WITHIN(circles_to_do, 0, 100))
+          SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
+      #else
+        constexpr uint8_t circles_to_do = 0;
+      #endif
+
+      // Send the arc to the planner
+      plan_arc(destination, arc_offset, clockwise, circles_to_do);
+      reset_stepper_timeout();
+    }
+    else
+      SERIAL_ERROR_MSG(STR_ERR_ARC_ARGS);
+  }
+}
+
+#endif // ARC_SUPPORT
diff --git a/Marlin/src/gcode/motion/G4.cpp b/Marlin/src/gcode/motion/G4.cpp
new file mode 100644
index 0000000..724ed7f
--- /dev/null
+++ b/Marlin/src/gcode/motion/G4.cpp
@@ -0,0 +1,44 @@
+/**
+ * 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/>.
+ *
+ */
+
+#include "../gcode.h"
+#include "../../module/stepper.h"
+#include "../../lcd/marlinui.h"
+
+/**
+ * G4: Dwell S<seconds> or P<milliseconds>
+ */
+void GcodeSuite::G4() {
+  millis_t dwell_ms = 0;
+
+  if (parser.seenval('P')) dwell_ms = parser.value_millis(); // milliseconds to wait
+  if (parser.seenval('S')) dwell_ms = parser.value_millis_from_seconds(); // seconds to wait
+
+  planner.synchronize();
+  #if ENABLED(NANODLP_Z_SYNC)
+    SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP);
+  #endif
+
+  if (!ui.has_status()) LCD_MESSAGEPGM(MSG_DWELL);
+
+  dwell(dwell_ms);
+}
diff --git a/Marlin/src/gcode/motion/G5.cpp b/Marlin/src/gcode/motion/G5.cpp
new file mode 100644
index 0000000..2c98fae
--- /dev/null
+++ b/Marlin/src/gcode/motion/G5.cpp
@@ -0,0 +1,65 @@
+/**
+ * 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/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(BEZIER_CURVE_SUPPORT)
+
+#include "../../module/motion.h"
+#include "../../module/planner_bezier.h"
+
+/**
+ * Parameters interpreted according to:
+ * https://linuxcnc.org/docs/2.7/html/gcode/g-code.html#gcode:g5
+ * However I, J omission is not supported at this point; all
+ * parameters can be omitted and default to zero.
+ */
+
+#include "../gcode.h"
+#include "../../MarlinCore.h" // for IsRunning()
+
+/**
+ * G5: Cubic B-spline
+ */
+void GcodeSuite::G5() {
+  if (MOTION_CONDITIONS) {
+
+    #if ENABLED(CNC_WORKSPACE_PLANES)
+      if (workspace_plane != PLANE_XY) {
+        SERIAL_ERROR_MSG(STR_ERR_BAD_PLANE_MODE);
+        return;
+      }
+    #endif
+
+    get_destination_from_command();
+
+    const xy_pos_t offsets[2] = {
+      { parser.linearval('I'), parser.linearval('J') },
+      { parser.linearval('P'), parser.linearval('Q') }
+    };
+
+    cubic_b_spline(current_position, destination, offsets, MMS_SCALED(feedrate_mm_s), active_extruder);
+    current_position = destination;
+  }
+}
+
+#endif // BEZIER_CURVE_SUPPORT
diff --git a/Marlin/src/gcode/motion/G6.cpp b/Marlin/src/gcode/motion/G6.cpp
new file mode 100644
index 0000000..168dc28
--- /dev/null
+++ b/Marlin/src/gcode/motion/G6.cpp
@@ -0,0 +1,61 @@
+/**
+ * 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/>.
+ *
+ */
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(DIRECT_STEPPING)
+
+#include "../../feature/direct_stepping.h"
+
+#include "../gcode.h"
+#include "../../module/planner.h"
+
+/**
+ * G6: Direct Stepper Move
+ */
+void GcodeSuite::G6() {
+  // TODO: feedrate support?
+  if (parser.seen('R'))
+    planner.last_page_step_rate = parser.value_ulong();
+
+  if (!DirectStepping::Config::DIRECTIONAL) {
+    if (parser.seen('X')) planner.last_page_dir.x = !!parser.value_byte();
+    if (parser.seen('Y')) planner.last_page_dir.y = !!parser.value_byte();
+    if (parser.seen('Z')) planner.last_page_dir.z = !!parser.value_byte();
+    if (parser.seen('E')) planner.last_page_dir.e = !!parser.value_byte();
+  }
+
+  // No index means we just set the state
+  if (!parser.seen('I')) return;
+
+  // No speed is set, can't schedule the move
+  if (!planner.last_page_step_rate) return;
+
+  const page_idx_t page_idx = (page_idx_t) parser.value_ulong();
+
+  uint16_t num_steps = DirectStepping::Config::TOTAL_STEPS;
+  if (parser.seen('S')) num_steps = parser.value_ushort();
+
+  planner.buffer_page(page_idx, 0, num_steps);
+  reset_stepper_timeout();
+}
+
+#endif // DIRECT_STEPPING
diff --git a/Marlin/src/gcode/motion/G80.cpp b/Marlin/src/gcode/motion/G80.cpp
new file mode 100644
index 0000000..f674596
--- /dev/null
+++ b/Marlin/src/gcode/motion/G80.cpp
@@ -0,0 +1,38 @@
+/**
+ * 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/>.
+ *
+ */
+
+#include "../../inc/MarlinConfigPre.h"
+
+#if ENABLED(GCODE_MOTION_MODES)
+
+#include "../gcode.h"
+
+/**
+ * G80: Cancel current motion mode
+ */
+void GcodeSuite::G80() {
+
+  parser.cancel_motion_mode();
+
+}
+
+#endif // GCODE_MOTION_MODES
diff --git a/Marlin/src/gcode/motion/M290.cpp b/Marlin/src/gcode/motion/M290.cpp
new file mode 100644
index 0000000..df8dad7
--- /dev/null
+++ b/Marlin/src/gcode/motion/M290.cpp
@@ -0,0 +1,136 @@
+/**
+ * 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/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if ENABLED(BABYSTEPPING)
+
+#include "../gcode.h"
+#include "../../feature/babystep.h"
+#include "../../module/probe.h"
+#include "../../module/planner.h"
+
+#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+  #include "../../core/serial.h"
+#endif
+
+#if ENABLED(MESH_BED_LEVELING)
+  #include "../../feature/bedlevel/bedlevel.h"
+#endif
+
+#if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+
+  FORCE_INLINE void mod_probe_offset(const float &offs) {
+    if (TERN1(BABYSTEP_HOTEND_Z_OFFSET, active_extruder == 0)) {
+      probe.offset.z += offs;
+      SERIAL_ECHO_START();
+      SERIAL_ECHOLNPAIR(STR_PROBE_OFFSET " " STR_Z, probe.offset.z);
+    }
+    else {
+      #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
+        hotend_offset[active_extruder].z -= offs;
+        SERIAL_ECHO_START();
+        SERIAL_ECHOLNPAIR(STR_PROBE_OFFSET STR_Z ": ", hotend_offset[active_extruder].z);
+      #endif
+    }
+  }
+
+#endif
+
+/**
+ * M290: Babystepping
+ *
+ * Send 'R' or no parameters for a report.
+ *
+ *  X<linear> - Distance to step X
+ *  Y<linear> - Distance to step Y
+ *  Z<linear> - Distance to step Z
+ *  S<linear> - Distance to step Z (alias for Z)
+ *
+ * With BABYSTEP_ZPROBE_OFFSET:
+ *  P0 - Don't adjust the Z probe offset
+ */
+void GcodeSuite::M290() {
+  #if ENABLED(BABYSTEP_XY)
+    LOOP_XYZ(a)
+      if (parser.seenval(XYZ_CHAR(a)) || (a == Z_AXIS && parser.seenval('S'))) {
+        const float offs = constrain(parser.value_axis_units((AxisEnum)a), -2, 2);
+        babystep.add_mm((AxisEnum)a, offs);
+        #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+          if (a == Z_AXIS && (!parser.seen('P') || parser.value_bool())) mod_probe_offset(offs);
+        #endif
+      }
+  #else
+    if (parser.seenval('Z') || parser.seenval('S')) {
+      const float offs = constrain(parser.value_axis_units(Z_AXIS), -2, 2);
+      babystep.add_mm(Z_AXIS, offs);
+      #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+        if (!parser.seen('P') || parser.value_bool()) mod_probe_offset(offs);
+      #endif
+    }
+  #endif
+
+  if (!parser.seen("XYZ") || parser.seen('R')) {
+    SERIAL_ECHO_START();
+
+    #if ENABLED(BABYSTEP_ZPROBE_OFFSET)
+      SERIAL_ECHOLNPAIR(STR_PROBE_OFFSET " " STR_Z, probe.offset.z);
+    #endif
+
+    #if ENABLED(BABYSTEP_HOTEND_Z_OFFSET)
+    {
+      SERIAL_ECHOLNPAIR_P(
+        PSTR("Hotend "), int(active_extruder)
+        #if ENABLED(BABYSTEP_XY)
+          , PSTR("Offset X"), hotend_offset[active_extruder].x
+          , SP_Y_STR, hotend_offset[active_extruder].y
+          , SP_Z_STR
+        #else
+          , PSTR("Offset Z")
+        #endif
+        , hotend_offset[active_extruder].z
+      );
+    }
+    #endif
+
+    #if ENABLED(MESH_BED_LEVELING)
+      SERIAL_ECHOLNPAIR("MBL Adjust Z", mbl.z_offset);
+    #endif
+
+    #if ENABLED(BABYSTEP_DISPLAY_TOTAL)
+    {
+      SERIAL_ECHOLNPAIR_P(
+        #if ENABLED(BABYSTEP_XY)
+            PSTR("Babystep X"), babystep.axis_total[X_AXIS]
+          , SP_Y_STR, babystep.axis_total[Y_AXIS]
+          , SP_Z_STR
+        #else
+          PSTR("Babystep Z")
+        #endif
+        , babystep.axis_total[BS_TOTAL_IND(Z_AXIS)]
+      );
+    }
+    #endif
+  }
+}
+
+#endif // BABYSTEPPING