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diff --git a/Marlin/src/gcode/motion/M290.cpp b/Marlin/src/gcode/motion/M290.cpp
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+++ b/Marlin/src/gcode/motion/M290.cpp
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+/**
+ * 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