diff --git a/Documentation/GCodes.md b/Documentation/GCodes.md
index 57b95cdeea3b83ad07dcb7e334440aa5f446d130..94756f8d9b2a6717b8d6da060e5e78937e32594d 100644
--- a/Documentation/GCodes.md
+++ b/Documentation/GCodes.md
@@ -2,105 +2,134 @@
## G Codes
-* G0 -> G1
-* G1 - Coordinated Movement X Y Z E
-* G2 - CW ARC
-* G3 - CCW ARC
-* G4 - Dwell S[seconds] or P[milliseconds]
-* G10 - retract filament according to settings of M207
-* G11 - retract recover filament according to settings of M208
-* G28 - Home all Axis
-* G29 - Detailed Z-Probe, probes the bed at 3 points. You must be at the home position for this to work correctly.
-* G30 - Single Z Probe, probes bed at current XY location.
-* G31 - Dock Z Probe sled (if enabled)
-* G32 - Undock Z Probe sled (if enabled)
-* G90 - Use Absolute Coordinates
-* G91 - Use Relative Coordinates
-* G92 - Set current position to cordinates given
-
+```
+G0 -> G1
+G1 - Coordinated Movement X Y Z E
+G2 - CW ARC
+G3 - CCW ARC
+G4 - Dwell S[seconds] or P[milliseconds]
+G10 - retract filament according to settings of M207
+G11 - retract recover filament according to settings of M208
+G28 - Home all Axis
+G29 - Detailed Z-Probe, probes the bed at 3 points. You must be at the home position for this to work correctly.
+G30 - Single Z Probe, probes bed at current XY location.
+G31 - Dock Z Probe sled (if enabled)
+G32 - Undock Z Probe sled (if enabled)
+G90 - Use Absolute Coordinates
+G91 - Use Relative Coordinates
+G92 - Set current position to cordinates given
+```
## M Codes
-* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
-* M1 - Same as M0
-* M17 - Enable/Power all stepper motors
-* M18 - Disable all stepper motors; same as M84
-* M20 - List SD card
-* M21 - Init SD card
-* M22 - Release SD card
-* M23 - Select SD file (M23 filename.g)
-* M24 - Start/resume SD print
-* M25 - Pause SD print
-* M26 - Set SD position in bytes (M26 S12345)
-* M27 - Report SD print status
-* M28 - Start SD write (M28 filename.g)
-* M29 - Stop SD write
-* M30 - Delete file from SD (M30 filename.g)
-* M31 - Output time since last M109 or SD card start to serial
-* M32 - Select file and start SD print (Can be used when printing from SD card)
-* M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
-* M80 - Turn on Power Supply
-* M81 - Turn off Power Supply
-* M82 - Set E codes absolute (default)
-* M83 - Set E codes relative while in Absolute Coordinates (G90) mode
-* M84 - Disable steppers until next move, or use S[seconds] to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
-* M85 - Set inactivity shutdown timer with parameter S[seconds]. To disable set zero (default)
-* M92 - Set axis_steps_per_unit - same syntax as G92
-* M104 - Set extruder target temp
-* M105 - Read current temp
-* M106 - Fan on
-* M107 - Fan off
-* M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
-* Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
-* M112 - Emergency stop
-* M114 - Output current position to serial port
-* M115 - Capabilities string
-* M117 - display message
-* M119 - Output Endstop status to serial port
-* M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
-* M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
-* M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
-* M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
-* M140 - Set bed target temp
-* M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
-* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
-* M200 - D[millimeters]- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
-* M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
-* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
-* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
-* M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
-* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
-* M206 - set additional homing offset
-* M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
-* M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
-* M209 - S[1=true/0=false] enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
-* M218 - set hotend offset (in mm): T[extruder_number] X[offset_on_X] Y[offset_on_Y]
-* M220 - S[factor in percent] - set speed factor override percentage
-* M221 - S[factor in percent] - set extrude factor override percentage
-* M240 - Trigger a camera to take a photograph
-* M280 - Position an RC Servo P[index] S[angle/microseconds], ommit S to report back current angle
-* M300 - Play beep sound S[frequency Hz] P[duration ms]
-* M301 - Set PID parameters P I and D
-* M302 - Allow cold extrudes
-* M303 - PID relay autotune S[temperature] sets the target temperature. (default target temperature = 150C)
-* M304 - Set bed PID parameters P I and D
-* M350 - Set microstepping mode.
-* M351 - Toggle MS1 MS2 pins directly.
-* M400 - Finish all moves
-* M401 - Lower z-probe if present
-* M402 - Raise z-probe if present
-* M404 - N[dia in mm] Enter the nominal filament width (3mm, 1.75mm) or will display nominal filament width without parameters
-* M405 - Turn on Filament Sensor extrusion control. Optional D[delay in cm] to set delay in centimeters between sensor and extruder
-* M406 - Turn off Filament Sensor extrusion control
-* M407 - Displays measured filament diameter
-* M500 - stores paramters in EEPROM
-* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
-* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
-* M503 - print the current settings (from memory not from EEPROM)
-* M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-* M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
-* M907 - Set digital trimpot motor current using axis codes.
-* M908 - Control digital trimpot directly.
-* M928 - Start SD logging (M928 filename.g) - ended by M29
-* M999 - Restart after being stopped by error
+```
+M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
+M1 - Same as M0
+M17 - Enable/Power all stepper motors
+M18 - Disable all stepper motors; same as M84
+M20 - List SD card
+M21 - Init SD card
+M22 - Release SD card
+M23 - Select SD file (M23 filename.g)
+M24 - Start/resume SD print
+M25 - Pause SD print
+M26 - Set SD position in bytes (M26 S12345)
+M27 - Report SD print status
+M28 - Start SD write (M28 filename.g)
+M29 - Stop SD write
+M30 - Delete file from SD (M30 filename.g)
+M31 - Output time since last M109 or SD card start to serial
+M32 - Select file and start SD print (Can be used _while_ printing from SD card files):
+ syntax "M32 /path/filename#", or "M32 S<startpos bytes> !filename#"
+ Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
+ The '#' is necessary when calling from within sd files, as it stops buffer prereading
+M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
+M48 - Measure Z_Probe repeatability. M48 [n # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
+M80 - Turn on Power Supply
+M81 - Turn off Power Supply
+M82 - Set E codes absolute (default)
+M83 - Set E codes relative while in Absolute Coordinates (G90) mode
+M84 - Disable steppers until next move,
+ or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
+M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
+M92 - Set axis_steps_per_unit - same syntax as G92
+M104 - Set extruder target temp
+M105 - Read current temp
+M106 - Fan on
+M107 - Fan off
+M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
+ Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
+ IF AUTOTEMP is enabled, S<mintemp> B<maxtemp> F<factor>. Exit autotemp by any M109 without F
+M112 - Emergency stop
+M114 - Output current position to serial port
+M115 - Capabilities string
+M117 - display message
+M119 - Output Endstop status to serial port
+M120 - Enable endstop detection
+M121 - Disable endstop detection
+M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
+M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
+M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
+M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
+M140 - Set bed target temp
+M150 - Set BlinkM Color Output R: Red<0-255> U(!): Green<0-255> B: Blue<0-255> over i2c, G for green does not work.
+M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
+ Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
+M200 D<millimeters>- set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
+M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
+M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
+M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
+M204 - Set default acceleration: P for Printing moves, R for Retract only (no X, Y, Z) moves and T for Travel (non printing) moves (ex. M204 P800 T3000 R9000) in mm/sec^2
+M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
+M206 - Set additional homing offset
+M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
+M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
+M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
+M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
+M220 S<factor in percent>- set speed factor override percentage
+M221 S<factor in percent>- set extrude factor override percentage
+M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
+M240 - Trigger a camera to take a photograph
+M250 - Set LCD contrast C<contrast value> (value 0..63)
+M280 - Set servo position absolute. P: servo index, S: angle or microseconds
+M300 - Play beep sound S<frequency Hz> P<duration ms>
+M301 - Set PID parameters P I and D
+M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
+M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
+M304 - Set bed PID parameters P I and D
+M380 - Activate solenoid on active extruder
+M381 - Disable all solenoids
+M400 - Finish all moves
+M401 - Lower z-probe if present
+M402 - Raise z-probe if present
+M404 - N<dia in mm> Enter the nominal filament width (3mm, 1.75mm ) or will display nominal filament width without parameters
+M405 - Turn on Filament Sensor extrusion control. Optional D<delay in cm> to set delay in centimeters between sensor and extruder
+M406 - Turn off Filament Sensor extrusion control
+M407 - Display measured filament diameter
+M500 - Store parameters in EEPROM
+M501 - Read parameters from EEPROM (if you need reset them after you changed them temporarily).
+M502 - Revert to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
+M503 - Print the current settings (from memory not from EEPROM). Use S0 to leave off headings.
+M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
+M665 - Set delta configurations
+M666 - Set delta endstop adjustment
+M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
+M907 - Set digital trimpot motor current using axis codes.
+M908 - Control digital trimpot directly.
+M350 - Set microstepping mode.
+M351 - Toggle MS1 MS2 pins directly.
+
+M928 - Start SD logging (M928 filename.g) - ended by M29
+M999 - Restart after being stopped by error
+```
+## SCARA-specific M-Codes - May change to suit future G-code standards
+```
+M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
+M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
+M362 - SCARA calibration: Move to cal-position PsiA (0 deg calibration)
+M363 - SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
+M364 - SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
+M365 - SCARA calibration: Scaling factor, X, Y, Z axis
+```
# Comments
@@ -122,4 +151,4 @@ If you need to use a literal `;` somewhere (for example within `M117`), you can
M117 backslash: \\;and a comment
-Please note that hosts should strip any comments before sending GCODE to the printer in order to save bandwidth.
\ No newline at end of file
+Please note that hosts should strip any comments before sending GCODE to the printer in order to save bandwidth.