docs: Reorganize layout of G-Codes.md

Break listing up by module name.  Provide links to "extended"
commands. Sort reference by module name.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

1 files changed, 953 insertions, 700 deletions

diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index 6450f0ef..6b903342 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -50,33 +50,337 @@ to implement it with a custom
 example, one might use this to implement: `G12`, `G29`, `G30`, `G31`,
 `M42`, `M80`, `M81`, `T1`, etc.
 
-### G-Code SD card commands
+## Additional Commands
 
-Klipper also supports the following standard G-Code commands if the
-[virtual_sdcard config section](Config_Reference.md#virtual_sdcard) is
-enabled:
-- List SD card: `M20`
-- Initialize SD card: `M21`
-- Select SD file: `M23 <filename>`
-- Start/resume SD print: `M24`
-- Pause SD print: `M25`
-- Set SD position: `M26 S<offset>`
-- Report SD print status: `M27`
+Klipper uses "extended" G-Code commands for general configuration and
+status. These extended commands all follow a similar format - they
+start with a command name and may be followed by one or more
+parameters. For example: `SET_SERVO SERVO=myservo ANGLE=5.3`. In this
+document, the commands and parameters are shown in uppercase, however
+they are not case sensitive. (So, "SET_SERVO" and "set_servo" both run
+the same command.)
 
-In addition, the following extended commands are availble when the
-"virtual_sdcard" config section is enabled.
-- Load a file and start SD print: `SDCARD_PRINT_FILE FILENAME=<filename>`
-- Unload file and clear SD state: `SDCARD_RESET_FILE`
+This section is organized my Klipper module name, which generally
+follows the section names specified in the
+[printer configuration file](Config_Reference.md). Note that some
+modules are automatically loaded.
 
-### G-Code arcs
+### [adxl345]
 
-The following standard G-Code commands are available if a
-[gcode_arcs config section](Config_Reference.md#gcode_arcs) is
-enabled:
-- Controlled Arc Move (G2 or G3): `G2 [X<pos>] [Y<pos>] [Z<pos>]
-  [E<pos>] [F<speed>] I<value> J<value>`
+The following commands are available when an
+[adxl345 config section](Config_Reference.md#adxl345) is enabled.
+
+#### ACCELEROMETER_MEASURE
+`ACCELEROMETER_MEASURE [CHIP=<config_name>] [NAME=<value>]`: Starts
+accelerometer measurements at the requested number of samples per
+second. If CHIP is not specified it defaults to "adxl345". The command
+works in a start-stop mode: when executed for the first time, it
+starts the measurements, next execution stops them. The results of
+measurements are written to a file named
+`/tmp/adxl345-<chip>-<name>.csv` where `<chip>` is the name of the
+accelerometer chip (`my_chip_name` from `[adxl345 my_chip_name]`) and
+`<name>` is the optional NAME parameter. If NAME is not specified it
+defaults to the current time in "YYYYMMDD_HHMMSS" format. If the
+accelerometer does not have a name in its config section (simply
+`[adxl345]`) then `<chip>` part of the name is not generated.
+
+#### ACCELEROMETER_QUERY
+`ACCELEROMETER_QUERY [CHIP=<config_name>] [RATE=<value>]`: queries
+accelerometer for the current value. If CHIP is not specified it
+defaults to "adxl345". If RATE is not specified, the default value is
+used. This command is useful to test the connection to the ADXL345
+accelerometer: one of the returned values should be a free-fall
+acceleration (+/- some noise of the chip).
+
+#### ACCELEROMETER_DEBUG_READ
+`ACCELEROMETER_DEBUG_READ [CHIP=<config_name>] REG=<register>`:
+queries ADXL345 register <register> (e.g. 44 or 0x2C). Can be useful
+for debugging purposes.
+
+#### ACCELEROMETER_DEBUG_WRITE
+`ACCELEROMETER_DEBUG_WRITE [CHIP=<config_name>] REG=<reg>
+VAL=<value>`: Writes raw <value> into a register <register>. Both
+<value> and <register> can be a decimal or a hexadecimal integer. Use
+with care, and refer to ADXL345 data sheet for the reference.
+
+### [bed_mesh]
+
+The following commands are available when the
+[bed_mesh config section](Config_Reference.md#bed_mesh) is enabled
+(also see the [bed mesh guide](Bed_Mesh.md)).
 
-### G-Code firmware retraction
+#### BED_MESH_CALIBRATE
+`BED_MESH_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]
+[<mesh_parameter>=<value>]`: This command probes the bed using
+generated points specified by the parameters in the config. After
+probing, a mesh is generated and z-movement is adjusted according to
+the mesh. See the PROBE command for details on the optional probe
+parameters. If METHOD=manual is specified then the manual probing tool
+is activated - see the MANUAL_PROBE command above for details on the
+additional commands available while this tool is active.
+
+#### BED_MESH_OUTPUT
+`BED_MESH_OUTPUT PGP=[<0:1>]`: This command outputs the current probed
+z values and current mesh values to the terminal.  If PGP=1 is
+specified the X, Y coordinates generated by bed_mesh, along with their
+associated indices, will be output to the terminal.
+
+#### BED_MESH_MAP
+`BED_MESH_MAP`: Like to BED_MESH_OUTPUT, this command prints the
+current state of the mesh to the terminal.  Instead of printing the
+values in a human readable format, the state is serialized in json
+format. This allows octoprint plugins to easily capture the data and
+generate height maps approximating the bed's surface.
+
+#### BED_MESH_CLEAR
+`BED_MESH_CLEAR`: This command clears the mesh and removes all z
+adjustment.  It is recommended to put this in your end-gcode.
+
+#### BED_MESH_PROFILE
+`BED_MESH_PROFILE LOAD=<name> SAVE=<name> REMOVE=<name>`: This command
+provides profile management for mesh state. LOAD will restore the mesh
+state from the profile matching the supplied name. SAVE will save the
+current mesh state to a profile matching the supplied name. Remove
+will delete the profile matching the supplied name from persistent
+memory. Note that after SAVE or REMOVE operations have been run the
+SAVE_CONFIG gcode must be run to make the changes to persistent memory
+permanent.
+
+#### BED_MESH_OFFSET
+`BED_MESH_OFFSET [X=<value>] [Y=<value>]`: Applies X and/or Y offsets
+to the mesh lookup. This is useful for printers with independent
+extruders, as an offset is necessary to produce correct Z adjustment
+after a tool change.
+
+### [bed_screws]
+
+The following commands are available when the
+[bed_screws config section](Config_Reference.md#bed_screws) is enabled
+(also see the
+[manual level guide](Manual_Level.md#adjusting-bed-leveling-screws)).
+
+#### BED_SCREWS_ADJUST
+`BED_SCREWS_ADJUST`: This command will invoke the bed screws
+adjustment tool. It will command the nozzle to different locations (as
+defined in the config file) and allow one to make adjustments to the
+bed screws so that the bed is a constant distance from the nozzle.
+
+### [bed_tilt]
+
+The following commands are available when the
+[bed_tilt config section](Config_Reference.md#bed_tilt) is enabled.
+
+#### BED_TILT_CALIBRATE
+`BED_TILT_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
+command will probe the points specified in the config and then
+recommend updated x and y tilt adjustments. See the PROBE command for
+details on the optional probe parameters. If METHOD=manual is
+specified then the manual probing tool is activated - see the
+MANUAL_PROBE command above for details on the additional commands
+available while this tool is active.
+
+### [bltouch]
+
+The following command is available when a
+[bltouch config section](Config_Reference.md#bltouch) is enabled (also
+see the [BL-Touch guide](BLTouch.md)).
+
+#### BLTOUCH_DEBUG
+`BLTOUCH_DEBUG COMMAND=<command>`: This sends a command to the
+BLTouch. It may be useful for debugging. Available commands are:
+`pin_down`, `touch_mode`, `pin_up`, `self_test`, `reset`. A BL-Touch
+V3.0 or V3.1 may also support `set_5V_output_mode`,
+`set_OD_output_mode`, `output_mode_store` commands.
+
+#### BLTOUCH_STORE
+`BLTOUCH_STORE MODE=<output_mode>`: This stores an output mode in the
+EEPROM of a BLTouch V3.1 Available output_modes are: `5V`, `OD`
+
+### [configfile]
+
+The configfile module is automatically loaded.
+
+#### SAVE_CONFIG
+`SAVE_CONFIG`: This command will overwrite the main printer config
+file and restart the host software. This command is used in
+conjunction with other calibration commands to store the results of
+calibration tests.
+
+### [delayed_gcode]
+
+The following command is enabled if a
+[delayed_gcode config section](Config_Reference.md#delayed_gcode) has
+been enabled (also see the
+[template guide](Command_Templates.md#delayed-gcodes)).
+
+#### UPDATE_DELAYED_GCODE
+`UPDATE_DELAYED_GCODE [ID=<name>] [DURATION=<seconds>]`: Updates the
+delay duration for the identified [delayed_gcode] and starts the timer
+for gcode execution. A value of 0 will cancel a pending delayed gcode
+from executing.
+
+### [delta_calibrate]
+
+The following commands are available when the
+[delta_calibrate config section](Config_Reference.md#linear-delta-kinematics)
+is enabled (also see the [delta calibrate guide](Delta_Calibrate.md)).
+
+#### DELTA_CALIBRATE
+`DELTA_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
+command will probe seven points on the bed and recommend updated
+endstop positions, tower angles, and radius. See the PROBE command for
+details on the optional probe parameters. If METHOD=manual is
+specified then the manual probing tool is activated - see the
+MANUAL_PROBE command above for details on the additional commands
+available while this tool is active.
+
+#### DELTA_ANALYZE
+`DELTA_ANALYZE`: This command is used during enhanced delta
+calibration. See [Delta Calibrate](Delta_Calibrate.md) for details.
+
+### [display]
+
+The following command is available when a
+[display config section](Config_Reference.md#gcode_macro) is enabled.
+
+#### SET_DISPLAY_GROUP
+`SET_DISPLAY_GROUP [DISPLAY=<display>] GROUP=<group>`: Set the active
+display group of an lcd display. This allows to define multiple
+display data groups in the config, e.g. `[display_data <group>
+<elementname>]` and switch between them using this extended gcode
+command. If DISPLAY is not specified it defaults to "display" (the
+primary display).
+
+### [display_status]
+
+The display_status module is automatically loaded if a
+[display config section](Config_Reference.md#display) is enabled. It
+provides the following standard G-Code commands:
+- Display Message: `M117 <message>`
+- Set build percentage: `M73 P<percent>`
+
+### [dual_carriage]
+
+The following command is available when the
+[dual_carriage config section](Config_Reference.md#dual_carriage) is
+enabled.
+
+#### SET_DUAL_CARRIAGE
+`SET_DUAL_CARRIAGE CARRIAGE=[0|1]`: This command will set the active
+carriage. It is typically invoked from the activate_gcode and
+deactivate_gcode fields in a multiple extruder configuration.
+
+### [endstop_phase]
+
+The following commands are available when an
+[endstop_phase config section](Config_Reference.md#endstop_phase) is
+enabled (also see the [endstop phase guide](Endstop_Phase.md)).
+
+#### ENDSTOP_PHASE_CALIBRATE
+`ENDSTOP_PHASE_CALIBRATE [STEPPER=<config_name>]`: If no STEPPER
+parameter is provided then this command will reports statistics on
+endstop stepper phases during past homing operations. When a STEPPER
+parameter is provided it arranges for the given endstop phase setting
+to be written to the config file (in conjunction with the SAVE_CONFIG
+command).
+
+### [extruder]
+
+The following commands are available if an
+[extruder config section](Config_Reference.md#extruder) is enabled:
+
+#### ACTIVATE_EXTRUDER
+`ACTIVATE_EXTRUDER EXTRUDER=<config_name>`: In a printer with multiple
+extruders this command is used to change the active extruder.
+
+#### SET_PRESSURE_ADVANCE
+`SET_PRESSURE_ADVANCE [EXTRUDER=<config_name>]
+[ADVANCE=<pressure_advance>]
+[SMOOTH_TIME=<pressure_advance_smooth_time>]`: Set pressure advance
+parameters. If EXTRUDER is not specified, it defaults to the active
+extruder.
+
+#### SET_EXTRUDER_STEP_DISTANCE
+`SET_EXTRUDER_STEP_DISTANCE [EXTRUDER=<config_name>]
+[DISTANCE=<distance>]`: Set a new value for the provided extruder's
+"step distance". The "step distance" is
+`rotation_distance/(full_steps_per_rotation*microsteps)`. Value is not
+retained on Klipper reset. Use with caution, small changes can result
+in excessive pressure between extruder and hot end. Do proper
+calibration steps with filament before use. If 'DISTANCE' value is not
+included command will return current step distance.
+
+#### SYNC_STEPPER_TO_EXTRUDER
+`SYNC_STEPPER_TO_EXTRUDER STEPPER=<name> [EXTRUDER=<name>]`: This
+command will cause the given extruder STEPPER (as specified in an
+[extruder](Config_Reference#extruder) or
+[extruder stepper](Config_Reference#extruder_stepper) config section)
+to become synchronized to the given EXTRUDER. If EXTRUDER is an empty
+string then the stepper will not be synchronized to an extruder.
+
+### [fan_generic]
+
+The following command is available when a
+[fan_generic config section](Config_Reference.md#fan_generic) is
+enabled.
+
+#### SET_FAN_SPEED
+`SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets the
+speed of a fan. <speed> must be between 0.0 and 1.0.
+
+### [firmware_retraction]
+
+The following standard G-Code commands are available when the
+[firmware_retraction config section](Config_Reference.md#firmware_retraction)
+is enabled. These commands allow you to utilize the firmware
+retraction feature available in many slicers, to reduce stringing
+during non-extrusion moves from one part of the print to another.
+Appropriately configuring pressure advance reduces the length of
+retraction required.
+- `G10`: Retracts the extruder using the currently configured
+  parameters.
+- `G11`: Unretracts the extruder using the currently configured
+  parameters.
+
+The following additional commands are also available.
+
+#### SET_RETRACTION
+`SET_RETRACTION [RETRACT_LENGTH=<mm>] [RETRACT_SPEED=<mm/s>]
+[UNRETRACT_EXTRA_LENGTH=<mm>] [UNRETRACT_SPEED=<mm/s>]`: Adjust the
+parameters used by firmware retraction. RETRACT_LENGTH determines the
+length of filament to retract and unretract. The speed of retraction
+is adjusted via RETRACT_SPEED, and is typically set relatively
+high. The speed of unretraction is adjusted via UNRETRACT_SPEED, and
+is not particularly critical, although often lower than RETRACT_SPEED.
+In some cases it is useful to add a small amount of additional length
+on unretraction, and this is set via UNRETRACT_EXTRA_LENGTH.
+SET_RETRACTION is commonly set as part of slicer per-filament
+configuration, as different filaments require different parameter
+settings.
+
+#### GET_RETRACTION
+`GET_RETRACTION`: Queries the current parameters used by firmware
+retraction and displays them on the terminal.
+
+### [filament_switch_sensor]
+
+The following command is available when a
+[filament_switch_sensor](Config_Reference.md#filament_switch_sensor)
+or
+[filament_motion_sensor](Config_Reference.md#filament_motion_sensor)
+config section is enabled.
+
+#### QUERY_FILAMENT_SENSOR
+`QUERY_FILAMENT_SENSOR SENSOR=<sensor_name>`: Queries the current
+status of the filament sensor. The data displayed on the terminal will
+depend on the sensor type defined in the configuration.
+
+#### SET_FILAMENT_SENSOR
+`SET_FILAMENT_SENSOR SENSOR=<sensor_name> ENABLE=[0|1]`: Sets the
+filament sensor on/off. If ENABLE is set to 0, the filament sensor
+will be disabled, if set to 1 it is enabled.
+
+### [firmware_retraction]
 
 The following standard G-Code commands are available if a
 [firmware_retraction config section](Config_Reference.md#firmware_retraction)
@@ -84,514 +388,504 @@ is enabled:
 - Retract: `G10`
 - Unretract: `G11`
 
-### G-Code display commands
+### [force_move]
 
-The following standard G-Code commands are available if a
-[display config section](Config_Reference.md#display) is enabled:
-- Display Message: `M117 <message>`
-- Set build percentage: `M73 P<percent>`
+The force_move module is automatically loaded, however some commands
+require setting `enable_force_move` in the
+[printer config](Config_Reference#force_move).
 
-### Other available G-Code commands
+#### STEPPER_BUZZ
+`STEPPER_BUZZ STEPPER=<config_name>`: Move the given stepper forward
+one mm and then backward one mm, repeated 10 times. This is a
+diagnostic tool to help verify stepper connectivity.
 
-The following standard G-Code commands are currently available, but
-using them is not recommended:
-- Get Endstop Status: `M119` (Use QUERY_ENDSTOPS instead.)
+#### FORCE_MOVE
+`FORCE_MOVE STEPPER=<config_name> DISTANCE=<value> VELOCITY=<value>
+[ACCEL=<value>]`: This command will forcibly move the given stepper
+the given distance (in mm) at the given constant velocity (in mm/s).
+If ACCEL is specified and is greater than zero, then the given
+acceleration (in mm/s^2) will be used; otherwise no acceleration is
+performed. No boundary checks are performed; no kinematic updates are
+made; other parallel steppers on an axis will not be moved. Use
+caution as an incorrect command could cause damage! Using this command
+will almost certainly place the low-level kinematics in an incorrect
+state; issue a G28 afterwards to reset the kinematics. This command is
+intended for low-level diagnostics and debugging.
 
-## Extended G-Code Commands
+#### SET_KINEMATIC_POSITION
+`SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
+the low-level kinematic code to believe the toolhead is at the given
+cartesian position. This is a diagnostic and debugging command; use
+SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
+axis is not specified then it will default to the position that the
+head was last commanded to. Setting an incorrect or invalid position
+may lead to internal software errors. This command may invalidate
+future boundary checks; issue a G28 afterwards to reset the
+kinematics.
 
-Klipper uses "extended" G-Code commands for general configuration and
-status.  These extended commands all follow a similar format - they
-start with a command name and may be followed by one or more
-parameters. For example: `SET_SERVO SERVO=myservo ANGLE=5.3`. In this
-document, the commands and parameters are shown in uppercase, however
-they are not case sensitive. (So, "SET_SERVO" and "set_servo" both run
-the same command.)
+### [gcode]
 
-The following standard commands are supported:
-- `QUERY_ENDSTOPS`: Probe the axis endstops and report if they are
-  "triggered" or in an "open" state. This command is typically used to
-  verify that an endstop is working correctly.
-- `QUERY_ADC [NAME=<config_name>] [PULLUP=<value>]`: Report the last
-  analog value received for a configured analog pin. If NAME is not
-  provided, the list of available adc names are reported. If PULLUP is
-  provided (as a value in Ohms), the raw analog value along with the
-  equivalent resistance given that pullup is reported.
-- `GET_POSITION`: Return information on the current location of the
-  toolhead.
-- `SET_GCODE_OFFSET [X=<pos>|X_ADJUST=<adjust>]
-  [Y=<pos>|Y_ADJUST=<adjust>] [Z=<pos>|Z_ADJUST=<adjust>]
-  [MOVE=1 [MOVE_SPEED=<speed>]]`: Set a positional offset to apply to
-  future G-Code commands. This is commonly used to virtually change
-  the Z bed offset or to set nozzle XY offsets when switching
-  extruders. For example, if "SET_GCODE_OFFSET Z=0.2" is sent, then
-  future G-Code moves will have 0.2mm added to their Z height. If the
-  X_ADJUST style parameters are used, then the adjustment will be
-  added to any existing offset (eg, "SET_GCODE_OFFSET Z=-0.2" followed
-  by "SET_GCODE_OFFSET Z_ADJUST=0.3" would result in a total Z offset
-  of 0.1). If "MOVE=1" is specified then a toolhead move will be
-  issued to apply the given offset (otherwise the offset will take
-  effect on the next absolute G-Code move that specifies the given
-  axis). If "MOVE_SPEED" is specified then the toolhead move will be
-  performed with the given speed (in mm/s); otherwise the toolhead
-  move will use the last specified G-Code speed.
-- `SAVE_GCODE_STATE [NAME=<state_name>]`: Save the current
-  g-code coordinate parsing state. Saving and restoring the g-code
-  state is useful in scripts and macros. This command saves the
-  current g-code absolute coordinate mode (G90/G91), absolute extrude
-  mode (M82/M83), origin (G92), offset (SET_GCODE_OFFSET), speed
-  override (M220), extruder override (M221), move speed, current XYZ
-  position, and relative extruder "E" position. If NAME is provided it
-  allows one to name the saved state to the given string. If NAME is
-  not provided it defaults to "default".
-- `RESTORE_GCODE_STATE [NAME=<state_name>]
-  [MOVE=1 [MOVE_SPEED=<speed>]]`: Restore a state previously saved via
-  SAVE_GCODE_STATE. If "MOVE=1" is specified then a toolhead move will
-  be issued to move back to the previous XYZ position. If "MOVE_SPEED"
-  is specified then the toolhead move will be performed with the given
-  speed (in mm/s); otherwise the toolhead move will use the restored
-  g-code speed.
-- `PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
-  [WRITE_FILE=1]`: Perform a PID calibration test. The specified
-  heater will be enabled until the specified target temperature is
-  reached, and then the heater will be turned off and on for several
-  cycles. If the WRITE_FILE parameter is enabled, then the file
-  /tmp/heattest.txt will be created with a log of all temperature
-  samples taken during the test.
-- `TURN_OFF_HEATERS`: Turn off all heaters.
-- `TEMPERATURE_WAIT SENSOR=<config_name> [MINIMUM=<target>] [MAXIMUM=<target>]`:
-  Wait until the given temperature sensor is at or above the supplied
-  MINIMUM and/or at or below the supplied MAXIMUM.
-- `SET_VELOCITY_LIMIT [VELOCITY=<value>] [ACCEL=<value>]
-  [ACCEL_TO_DECEL=<value>] [SQUARE_CORNER_VELOCITY=<value>]`: Modify
-  the printer's velocity limits.
-- `SET_HEATER_TEMPERATURE HEATER=<heater_name> [TARGET=<target_temperature>]`:
-  Sets the target temperature for a heater. If a target temperature is
-  not supplied, the target is 0.
-- `ACTIVATE_EXTRUDER EXTRUDER=<config_name>`: In a printer with
-  multiple extruders this command is used to change the active
-  extruder.
-- `SET_PRESSURE_ADVANCE [EXTRUDER=<config_name>] [ADVANCE=<pressure_advance>]
-  [SMOOTH_TIME=<pressure_advance_smooth_time>]`: Set pressure advance
-  parameters. If EXTRUDER is not specified, it defaults to the active
-  extruder.
-- `SET_EXTRUDER_STEP_DISTANCE [EXTRUDER=<config_name>]
-  [DISTANCE=<distance>]`: Set a new value for the provided extruder's
-  "step distance". The "step distance" is
-  `rotation_distance/(full_steps_per_rotation*microsteps)`. Value is
-  not retained on Klipper reset. Use with caution, small changes can
-  result in excessive pressure between extruder and hot end. Do proper
-  calibration steps with filament before use. If 'DISTANCE' value is
-  not included command will return current step distance.
-- `SYNC_STEPPER_TO_EXTRUDER STEPPER=<name> [EXTRUDER=<name>]`: This
-  command will cause the given extruder STEPPER (as specified in an
-  [extruder](Config_Reference#extruder) or
-  [extruder stepper](Config_Reference#extruder_stepper) config
-  section) to become synchronized to the given EXTRUDER. If EXTRUDER
-  is an empty string then the stepper will not be synchronized to an
-  extruder.
-- `SET_STEPPER_ENABLE STEPPER=<config_name> ENABLE=[0|1]`: Enable or
-  disable only the given stepper. This is a diagnostic and debugging
-  tool and must be used with care. Disabling an axis motor does not
-  reset the homing information. Manually moving a disabled stepper may
-  cause the machine to operate the motor outside of safe limits. This
-  can lead to damage to axis components, hot ends, and print surface.
-- `STEPPER_BUZZ STEPPER=<config_name>`: Move the given stepper forward
-  one mm and then backward one mm, repeated 10 times. This is a
-  diagnostic tool to help verify stepper connectivity.
-- `MANUAL_PROBE [SPEED=<speed>]`: Run a helper script useful for
-  measuring the height of the nozzle at a given location. If SPEED is
-  specified, it sets the speed of TESTZ commands (the default is
-  5mm/s). During a manual probe, the following additional commands are
-  available:
-  - `ACCEPT`: This command accepts the current Z position and
-  concludes the manual probing tool.
-  - `ABORT`: This command terminates the manual probing tool.
-  - `TESTZ Z=<value>`: This command moves the nozzle up or down by the
-    amount specified in "value". For example, `TESTZ Z=-.1` would move
-    the nozzle down .1mm while `TESTZ Z=.1` would move the nozzle up
-    .1mm. The value may also be `+`, `-`, `++`, or `--` to move the
-    nozzle up or down an amount relative to previous attempts.
-- `Z_ENDSTOP_CALIBRATE [SPEED=<speed>]`: Run a helper script useful
-  for calibrating a Z position_endstop config setting. See the
-  MANUAL_PROBE command for details on the parameters and the
-  additional commands available while the tool is active.
-- `Z_OFFSET_APPLY_ENDSTOP`: Take the current Z Gcode offset (aka,
-  babystepping), and subtract it from the stepper_z endstop_position.
-  This acts to take a frequently used babystepping value, and "make
-  it permanent".  Requires a `SAVE_CONFIG` to take effect.
-- `TUNING_TOWER COMMAND=<command> PARAMETER=<name> START=<value> [SKIP=<value>]
-  [FACTOR=<value> [BAND=<value>]] | [STEP_DELTA=<value> STEP_HEIGHT=<value>]`:
-  A tool for tuning a parameter on each Z height during a print.
-  The tool will run the given `COMMAND` with the given `PARAMETER`
-  assigned to a value that varies with `Z` according to a formula. Use `FACTOR`
-  if you will use a ruler or calipers to measure the Z height of the optimum
-  value, or `STEP_DELTA` and `STEP_HEIGHT` if the tuning tower model has bands
-  of discrete values as is common with temperature towers. If `SKIP=<value>`
-  is specified, the tuning process doesn't begin until Z height `<value>` is
-  reached, and below that the value will be set to `START`; in this case, the
-  `z_height` used in the formulas below is actually `max(z - skip, 0)`.
-  There are three possible combinations of options:
-  - `FACTOR`: The value changes at a rate of `factor` per millimeter.
-    The formula used is
-    `value = start + factor * z_height`.
-    You can plug the optimum Z height directly into the formula to
-    determine the optimum parameter value.
-  - `FACTOR` and `BAND`: The value changes at an average rate of `factor` per
-    millimeter, but in discrete bands where the adjustment will only be made
-    every `BAND` millimeters of Z height.
-    The formula used is
-    `value = start + factor * ((floor(z_height / band) + .5) * band)`.
-  - `STEP_DELTA` and `STEP_HEIGHT`: The value changes by `STEP_DELTA` every
-    `STEP_HEIGHT` millimeters. The formula used is
-    `value = start + step_delta * floor(z_height / step_height)`.
-    You can simply count bands or read tuning tower labels to determine the
-    optimum value.
-- `SET_DISPLAY_GROUP [DISPLAY=<display>] GROUP=<group>`: Set the
-  active display group of an lcd display. This allows to define
-  multiple display data groups in the config,
-  e.g. `[display_data <group> <elementname>]` and switch between them
-  using this extended gcode command. If DISPLAY is not specified it
-  defaults to "display" (the primary display).
-- `SET_IDLE_TIMEOUT [TIMEOUT=<timeout>]`:  Allows the user to set the
-  idle timeout (in seconds).
-- `RESTART`: This will cause the host software to reload its config
-  and perform an internal reset. This command will not clear error
-  state from the micro-controller (see FIRMWARE_RESTART) nor will it
-  load new software (see
-  [the FAQ](FAQ.md#how-do-i-upgrade-to-the-latest-software)).
-- `FIRMWARE_RESTART`: This is similar to a RESTART command, but it
-  also clears any error state from the micro-controller.
-- `SAVE_CONFIG`: This command will overwrite the main printer config
-  file and restart the host software. This command is used in
-  conjunction with other calibration commands to store the results of
-  calibration tests.
-- `STATUS`: Report the Klipper host software status.
-- `HELP`: Report the list of available extended G-Code commands.
+The gcode module is automatically loaded.
+
+#### RESTART
+`RESTART`: This will cause the host software to reload its config and
+perform an internal reset. This command will not clear error state
+from the micro-controller (see FIRMWARE_RESTART) nor will it load new
+software (see
+[the FAQ](FAQ.md#how-do-i-upgrade-to-the-latest-software)).
+
+#### FIRMWARE_RESTART
+`FIRMWARE_RESTART`: This is similar to a RESTART command, but it also
+clears any error state from the micro-controller.
+
+#### STATUS
+`STATUS`: Report the Klipper host software status.
+
+#### HELP
+`HELP`: Report the list of available extended G-Code commands.
+
+### [gcode_arcs]
+
+The following standard G-Code commands are available if a
+[gcode_arcs config section](Config_Reference.md#gcode_arcs) is
+enabled:
+- Controlled Arc Move (G2 or G3): `G2 [X<pos>] [Y<pos>] [Z<pos>]
+  [E<pos>] [F<speed>] I<value> J<value>`
 
-### G-Code Macro Commands
+### [gcode_macro]
 
 The following command is available when a
 [gcode_macro config section](Config_Reference.md#gcode_macro) is
 enabled (also see the
-[command templates guide](Command_Templates.md)):
-- `SET_GCODE_VARIABLE MACRO=<macro_name> VARIABLE=<name>
-  VALUE=<value>`: This command allows one to change the value of a
-  gcode_macro variable at run-time. The provided VALUE is parsed as a
-  Python literal.
+[command templates guide](Command_Templates.md)).
 
-### Custom Pin Commands
+#### SET_GCODE_VARIABLE
+`SET_GCODE_VARIABLE MACRO=<macro_name> VARIABLE=<name> VALUE=<value>`:
+This command allows one to change the value of a gcode_macro variable
+at run-time. The provided VALUE is parsed as a Python literal.
 
-The following command is available when an
-[output_pin config section](Config_Reference.md#output_pin) is
-enabled:
-- `SET_PIN PIN=config_name VALUE=<value> CYCLE_TIME=<cycle_time>`
+### [gcode_move]
 
-Note: Hardware PWM does not currently support the CYCLE_TIME parameter
-and will use the cycle time defined in the config.
+The gcode_move module is automatically loaded.
 
-### Manually Controlled Fans Commands
+#### GET_POSITION
+`GET_POSITION`: Return information on the current location of the
+toolhead.
 
-The following command is available when a
-[fan_generic config section](Config_Reference.md#fan_generic) is
-enabled:
-- `SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets
-  the speed of a fan. <speed> must be between 0.0 and 1.0.
+#### SET_GCODE_OFFSET
+`SET_GCODE_OFFSET [X=<pos>|X_ADJUST=<adjust>]
+[Y=<pos>|Y_ADJUST=<adjust>] [Z=<pos>|Z_ADJUST=<adjust>] [MOVE=1
+[MOVE_SPEED=<speed>]]`: Set a positional offset to apply to future
+G-Code commands. This is commonly used to virtually change the Z bed
+offset or to set nozzle XY offsets when switching extruders. For
+example, if "SET_GCODE_OFFSET Z=0.2" is sent, then future G-Code moves
+will have 0.2mm added to their Z height. If the X_ADJUST style
+parameters are used, then the adjustment will be added to any existing
+offset (eg, "SET_GCODE_OFFSET Z=-0.2" followed by "SET_GCODE_OFFSET
+Z_ADJUST=0.3" would result in a total Z offset of 0.1). If "MOVE=1" is
+specified then a toolhead move will be issued to apply the given
+offset (otherwise the offset will take effect on the next absolute
+G-Code move that specifies the given axis). If "MOVE_SPEED" is
+specified then the toolhead move will be performed with the given
+speed (in mm/s); otherwise the toolhead move will use the last
+specified G-Code speed.
 
-### Neopixel and Dotstar Commands
+#### SAVE_GCODE_STATE
+`SAVE_GCODE_STATE [NAME=<state_name>]`: Save the current g-code
+coordinate parsing state. Saving and restoring the g-code state is
+useful in scripts and macros. This command saves the current g-code
+absolute coordinate mode (G90/G91), absolute extrude mode (M82/M83),
+origin (G92), offset (SET_GCODE_OFFSET), speed override (M220),
+extruder override (M221), move speed, current XYZ position, and
+relative extruder "E" position. If NAME is provided it allows one to
+name the saved state to the given string. If NAME is not provided it
+defaults to "default".
 
-The following command is available when a
-[neopixel config section](Config_Reference.md#neopixel) or
-[dotstar config section](Config_Reference.md#dotstar) is enabled:
-- `SET_LED LED=<config_name> RED=<value> GREEN=<value> BLUE=<value>
-  WHITE=<value> [INDEX=<index>] [TRANSMIT=0] [SYNC=1]`: This sets the LED
-  output. Each color `<value>` must be between 0.0 and 1.0. The WHITE
-  option is only valid on RGBW LEDs. If multiple LED chips are
-  daisy-chained then one may specify INDEX to alter the color of just
-  the given chip (1 for the first chip, 2 for the second, etc.). If
-  INDEX is not provided then all LEDs in the daisy-chain will be set
-  to the provided color. If TRANSMIT=0 is specified then the color
-  change will only be made on the next SET_LED command that does not
-  specify TRANSMIT=0; this may be useful in combination with the INDEX
-  parameter to batch multiple updates in a daisy-chain. By default, the
-  SET_LED command will sync it's changes with other ongoing gcode commands.
-  This can lead to undesirable behavior if LEDs are being set while the
-  printer is not printing as it will reset the idle timeout. If careful
-  timing is not needed, the optional SYNC=0 parameter can be specified to
-  apply the changes instantly and not reset the idle timeout.
+#### RESTORE_GCODE_STATE
+`RESTORE_GCODE_STATE [NAME=<state_name>] [MOVE=1
+[MOVE_SPEED=<speed>]]`: Restore a state previously saved via
+SAVE_GCODE_STATE. If "MOVE=1" is specified then a toolhead move will
+be issued to move back to the previous XYZ position. If "MOVE_SPEED"
+is specified then the toolhead move will be performed with the given
+speed (in mm/s); otherwise the toolhead move will use the restored
+g-code speed.
 
-### Servo Commands
+### [hall_filament_width_sensor]
 
-The following commands are available when a
-[servo config section](Config_Reference.md#servo) is enabled:
-- `SET_SERVO SERVO=config_name [ANGLE=<degrees> | WIDTH=<seconds>]`:
-  Set the servo position to the given angle (in degrees) or pulse
-  width (in seconds). Use `WIDTH=0` to disable the servo output.
+The following commands are available when the
+[tsl1401cl filament width sensor config section](Config_Reference.md#tsl1401cl_filament_width_sensor)
+or [hall filament width sensor config section](Config_Reference.md#hall_filament_width_sensor)
+is enabled (also see [TSLl401CL Filament Width Sensor](TSL1401CL_Filament_Width_Sensor.md)
+and [Hall Filament Width Sensor](Hall_Filament_Width_Sensor.md)):
+
+#### QUERY_FILAMENT_WIDTH
+`QUERY_FILAMENT_WIDTH`: Return the current measured filament width.
+
+#### RESET_FILAMENT_WIDTH_SENSOR
+`RESET_FILAMENT_WIDTH_SENSOR`: Clear all sensor readings. Helpful
+after filament change.
+
+#### DISABLE_FILAMENT_WIDTH_SENSOR
+`DISABLE_FILAMENT_WIDTH_SENSOR`: Turn off the filament width sensor
+and stop using it for flow control.
 
-### Manual stepper Commands
+#### ENABLE_FILAMENT_WIDTH_SENSOR
+`ENABLE_FILAMENT_WIDTH_SENSOR`: Turn on the filament width sensor and
+start using it for flow control.
+
+#### QUERY_RAW_FILAMENT_WIDTH
+`QUERY_RAW_FILAMENT_WIDTH`: Return the current ADC channel readings
+and RAW sensor value for calibration points.
+
+#### ENABLE_FILAMENT_WIDTH_LOG
+`ENABLE_FILAMENT_WIDTH_LOG`: Turn on diameter logging.
+
+#### DISABLE_FILAMENT_WIDTH_LOG
+`DISABLE_FILAMENT_WIDTH_LOG`: Turn off diameter logging.
+
+### [heaters]
+
+The heaters module is automatically loaded if a heater is defined in
+the config file.
+
+#### TURN_OFF_HEATERS
+`TURN_OFF_HEATERS`: Turn off all heaters.
+
+#### TEMPERATURE_WAIT
+`TEMPERATURE_WAIT SENSOR=<config_name> [MINIMUM=<target>]
+[MAXIMUM=<target>]`: Wait until the given temperature sensor is at or
+above the supplied MINIMUM and/or at or below the supplied MAXIMUM.
+
+#### SET_HEATER_TEMPERATURE
+`SET_HEATER_TEMPERATURE HEATER=<heater_name>
+[TARGET=<target_temperature>]`: Sets the target temperature for a
+heater. If a target temperature is not supplied, the target is 0.
+
+### [idle_timeout]
+
+The idle_timeout module is automatically loaded.
+
+#### SET_IDLE_TIMEOUT
+`SET_IDLE_TIMEOUT [TIMEOUT=<timeout>]`: Allows the user to set the
+idle timeout (in seconds).
+
+### [input_shaper]
+
+The following command is enabled if an
+[input_shaper config section](Config_Reference.md#input_shaper) has
+been enabled (also see the
+[resonance compensation guide](Resonance_Compensation.md)).
+
+#### SET_INPUT_SHAPER
+`SET_INPUT_SHAPER [SHAPER_FREQ_X=<shaper_freq_x>]
+[SHAPER_FREQ_Y=<shaper_freq_y>] [DAMPING_RATIO_X=<damping_ratio_x>]
+[DAMPING_RATIO_Y=<damping_ratio_y>] [SHAPER_TYPE=<shaper>]
+[SHAPER_TYPE_X=<shaper_type_x>] [SHAPER_TYPE_Y=<shaper_type_y>]`:
+Modify input shaper parameters. Note that SHAPER_TYPE parameter resets
+input shaper for both X and Y axes even if different shaper types have
+been configured in [input_shaper] section. SHAPER_TYPE cannot be used
+together with either of SHAPER_TYPE_X and SHAPER_TYPE_Y parameters.
+See [config reference](Config_Reference.md#input_shaper) for more
+details on each of these parameters.
+
+### [manual_probe]
+
+The manual_probe module is automatically loaded.
+
+#### MANUAL_PROBE
+`MANUAL_PROBE [SPEED=<speed>]`: Run a helper script useful for
+measuring the height of the nozzle at a given location. If SPEED is
+specified, it sets the speed of TESTZ commands (the default is
+5mm/s). During a manual probe, the following additional commands are
+available:
+- `ACCEPT`: This command accepts the current Z position and concludes
+  the manual probing tool.
+- `ABORT`: This command terminates the manual probing tool.
+- `TESTZ Z=<value>`: This command moves the nozzle up or down by the
+  amount specified in "value". For example, `TESTZ Z=-.1` would move
+  the nozzle down .1mm while `TESTZ Z=.1` would move the nozzle up
+  .1mm. The value may also be `+`, `-`, `++`, or `--` to move the
+  nozzle up or down an amount relative to previous attempts.
+
+#### Z_ENDSTOP_CALIBRATE
+`Z_ENDSTOP_CALIBRATE [SPEED=<speed>]`: Run a helper script useful for
+calibrating a Z position_endstop config setting. See the MANUAL_PROBE
+command for details on the parameters and the additional commands
+available while the tool is active.
+
+#### Z_OFFSET_APPLY_ENDSTOP
+`Z_OFFSET_APPLY_ENDSTOP`: Take the current Z Gcode offset (aka,
+babystepping), and subtract it from the stepper_z endstop_position.
+This acts to take a frequently used babystepping value, and "make it
+permanent". Requires a `SAVE_CONFIG` to take effect.
+
+### [manual_stepper]
 
 The following command is available when a
 [manual_stepper config section](Config_Reference.md#manual_stepper) is
-enabled:
-- `MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
-  [SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>]
-  [MOVE=<pos> [STOP_ON_ENDSTOP=[1|2|-1|-2]] [SYNC=0]]`: This command
-  will alter the state of the stepper. Use the ENABLE parameter to
-  enable/disable the stepper. Use the SET_POSITION parameter to force
-  the stepper to think it is at the given position. Use the MOVE
-  parameter to request a movement to the given position. If SPEED
-  and/or ACCEL is specified then the given values will be used instead
-  of the defaults specified in the config file. If an ACCEL of zero is
-  specified then no acceleration will be performed. If
-  STOP_ON_ENDSTOP=1 is specified then the move will end early should
-  the endstop report as triggered (use STOP_ON_ENDSTOP=2 to complete
-  the move without error even if the endstop does not trigger, use -1
-  or -2 to stop when the endstop reports not triggered). Normally
-  future G-Code commands will be scheduled to run after the stepper
-  move completes, however if a manual stepper move uses SYNC=0 then
-  future G-Code movement commands may run in parallel with the stepper
-  movement.
-
-### Probe
+enabled.
 
-The following commands are available when a
-[probe config section](Config_Reference.md#probe) is enabled (also see
-the [probe calibrate guide](Probe_Calibrate.md)):
-- `PROBE [PROBE_SPEED=<mm/s>] [LIFT_SPEED=<mm/s>] [SAMPLES=<count>]
-  [SAMPLE_RETRACT_DIST=<mm>] [SAMPLES_TOLERANCE=<mm>]
-  [SAMPLES_TOLERANCE_RETRIES=<count>]
-  [SAMPLES_RESULT=median|average]`: Move the nozzle downwards until
-  the probe triggers. If any of the optional parameters are provided
-  they override their equivalent setting in the
-  [probe config section](Config_Reference.md#probe).
-- `QUERY_PROBE`: Report the current status of the probe ("triggered"
-  or "open").
-- `PROBE_ACCURACY [PROBE_SPEED=<mm/s>] [SAMPLES=<count>]
-  [SAMPLE_RETRACT_DIST=<mm>]`: Calculate the maximum, minimum,
-  average, median, and standard deviation of multiple probe
-  samples. By default, 10 SAMPLES are taken. Otherwise the optional
-  parameters default to their equivalent setting in the probe config
-  section.
-- `PROBE_CALIBRATE [SPEED=<speed>] [<probe_parameter>=<value>]`: Run a
-  helper script useful for calibrating the probe's z_offset. See the
-  PROBE command for details on the optional probe parameters. See
-  the MANUAL_PROBE command for details on the SPEED parameter and the
-  additional commands available while the tool is active. Please note,
-  the PROBE_CALIBRATE command uses the speed variable
-  to move in XY direction as well as Z.
-- `Z_OFFSET_APPLY_PROBE`: Take the current Z Gcode offset (aka,
-  babystepping), and subtract if from the probe's z_offset.
-  This acts to take a frequently used babystepping value, and "make
-  it permanent".  Requires a `SAVE_CONFIG` to take effect.
+#### MANUAL_STEPPER
+`MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
+[SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>] [MOVE=<pos>
+[STOP_ON_ENDSTOP=[1|2|-1|-2]] [SYNC=0]]`: This command will alter the
+state of the stepper. Use the ENABLE parameter to enable/disable the
+stepper. Use the SET_POSITION parameter to force the stepper to think
+it is at the given position. Use the MOVE parameter to request a
+movement to the given position. If SPEED and/or ACCEL is specified
+then the given values will be used instead of the defaults specified
+in the config file. If an ACCEL of zero is specified then no
+acceleration will be performed. If STOP_ON_ENDSTOP=1 is specified then
+the move will end early should the endstop report as triggered (use
+STOP_ON_ENDSTOP=2 to complete the move without error even if the
+endstop does not trigger, use -1 or -2 to stop when the endstop
+reports not triggered). Normally future G-Code commands will be
+scheduled to run after the stepper move completes, however if a manual
+stepper move uses SYNC=0 then future G-Code movement commands may run
+in parallel with the stepper movement.
 
-### BLTouch
+### [neopixel]
 
 The following command is available when a
-[bltouch config section](Config_Reference.md#bltouch) is enabled (also
-see the [BL-Touch guide](BLTouch.md)):
-- `BLTOUCH_DEBUG COMMAND=<command>`: This sends a command to the
-  BLTouch. It may be useful for debugging. Available commands are:
-  `pin_down`, `touch_mode`, `pin_up`, `self_test`, `reset`,
-  (*1): `set_5V_output_mode`, `set_OD_output_mode`, `output_mode_store`
+[neopixel config section](Config_Reference.md#neopixel) or
+[dotstar config section](Config_Reference.md#dotstar) is enabled.
 
-  *** Note that the commands marked by (*1) are solely supported
-      by a BL-Touch V3.0 or V3.1(+)
+#### SET_LED
+`SET_LED LED=<config_name> RED=<value> GREEN=<value> BLUE=<value>
+WHITE=<value> [INDEX=<index>] [TRANSMIT=0] [SYNC=1]`: This sets the
+LED output. Each color `<value>` must be between 0.0 and 1.0. The
+WHITE option is only valid on RGBW LEDs. If multiple LED chips are
+daisy-chained then one may specify INDEX to alter the color of just
+the given chip (1 for the first chip, 2 for the second, etc.). If
+INDEX is not provided then all LEDs in the daisy-chain will be set to
+the provided color. If TRANSMIT=0 is specified then the color change
+will only be made on the next SET_LED command that does not specify
+TRANSMIT=0; this may be useful in combination with the INDEX parameter
+to batch multiple updates in a daisy-chain. By default, the SET_LED
+command will sync it's changes with other ongoing gcode commands.
+This can lead to undesirable behavior if LEDs are being set while the
+printer is not printing as it will reset the idle timeout. If careful
+timing is not needed, the optional SYNC=0 parameter can be specified
+to apply the changes instantly and not reset the idle timeout.
 
-- `BLTOUCH_STORE MODE=<output_mode>`: This stores an output mode in the
-  EEPROM of a BLTouch V3.1 Available output_modes are: `5V`, `OD`
+### [output_pin]
 
-### Delta Calibration
+The following command is available when an
+[output_pin config section](Config_Reference.md#output_pin) is
+enabled.
 
-The following commands are available when the
-[delta_calibrate config section](Config_Reference.md#linear-delta-kinematics)
-is enabled (also see the [delta calibrate guide](Delta_Calibrate.md)):
-- `DELTA_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
-  command will probe seven points on the bed and recommend updated
-  endstop positions, tower angles, and radius. See the PROBE command
-  for details on the optional probe parameters. If METHOD=manual is
-  specified then the manual probing tool is activated - see the
-  MANUAL_PROBE command above for details on the additional commands
-  available while this tool is active.
-- `DELTA_ANALYZE`: This command is used during enhanced delta
-  calibration. See [Delta Calibrate](Delta_Calibrate.md) for details.
+#### SET_PIN
+`SET_PIN PIN=config_name VALUE=<value> CYCLE_TIME=<cycle_time>`:
+Note - hardware PWM does not currently support the CYCLE_TIME
+parameter and will use the cycle time defined in the config.
 
-### Bed Tilt
+### [palette2]
 
 The following commands are available when the
-[bed_tilt config section](Config_Reference.md#bed_tilt) is enabled:
-- `BED_TILT_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`:
-  This command will probe the points specified in the config and then
-  recommend updated x and y tilt adjustments. See the PROBE command
-  for details on the optional probe parameters. If METHOD=manual is
-  specified then the manual probing tool is activated - see the
-  MANUAL_PROBE command above for details on the additional commands
-  available while this tool is active.
+[palette2 config section](Config_Reference.md#palette2) is enabled.
 
-### Mesh Bed Leveling
+Palette prints work by embedding special OCodes (Omega Codes) in the
+GCode file:
+- `O1`...`O32`: These codes are read from the GCode stream and processed
+  by this module and passed to the Palette 2 device.
 
-The following commands are available when the
-[bed_mesh config section](Config_Reference.md#bed_mesh) is enabled
-(also see the [bed mesh guide](Bed_Mesh.md)):
-- `BED_MESH_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]
-  [<mesh_parameter>=<value>]`:
-  This command probes the bed using generated points specified by the
-  parameters in the config. After probing, a mesh is generated and
-  z-movement is adjusted according to the mesh. See the PROBE command
-  for details on the optional probe parameters. If METHOD=manual is
-  specified then the manual probing tool is activated - see the
-  MANUAL_PROBE command above for details on the additional commands
-  available while this tool is active.
-- `BED_MESH_OUTPUT PGP=[<0:1>]`: This command outputs the current probed
-  z values and current mesh values to the terminal.  If PGP=1 is specified
-  the X, Y coordinates generated by bed_mesh, along with their associated
-  indices, will be output to the terminal.
-- `BED_MESH_MAP`: Like to BED_MESH_OUTPUT, this command prints the current
-  state of the mesh to the terminal.  Instead of printing the values in a
-  human readable format, the state is serialized in json format. This allows
-  octoprint plugins to easily capture the data and generate height maps
-  approximating the bed's surface.
-- `BED_MESH_CLEAR`: This command clears the mesh and removes all
-  z adjustment.  It is recommended to put this in your end-gcode.
-- `BED_MESH_PROFILE LOAD=<name> SAVE=<name> REMOVE=<name>`: This
-  command provides profile management for mesh state.  LOAD will
-  restore the mesh state from the profile matching the supplied name.
-  SAVE will save the current mesh state to a profile matching the
-  supplied name.  Remove will delete the profile matching the
-  supplied name from persistent memory.  Note that after SAVE or
-  REMOVE operations have been run the SAVE_CONFIG gcode must be run
-  to make the changes to peristent memory permanent.
-- `BED_MESH_OFFSET [X=<value>] [Y=<value>]`:  Applies X and/or Y
-  offsets to the mesh lookup.  This is useful for printers with
-  independent extruders, as an offset is necessary to produce
-  correct Z adjustment after a tool change.
+The following additional commands are also available.
 
-### Bed Screws Helper
+#### PALETTE_CONNECT
+`PALETTE_CONNECT`: This command initializes the connection with the
+Palette 2.
 
-The following commands are available when the
-[bed_screws config section](Config_Reference.md#bed_screws) is enabled
-(also see the
-[manual level guide](Manual_Level.md#adjusting-bed-leveling-screws)):
-- `BED_SCREWS_ADJUST`: This command will invoke the bed screws
-  adjustment tool. It will command the nozzle to different locations
-  (as defined in the config file) and allow one to make adjustments to
-  the bed screws so that the bed is a constant distance from the
-  nozzle.
+#### PALETTE_DISCONNECT
+`PALETTE_DISCONNECT`: This command disconnects from the Palette 2.
 
-### Bed Screws Tilt Adjust Helper
+#### PALETTE_CLEAR
+`PALETTE_CLEAR`: This command instructs the Palette 2 to clear all of
+the input and output paths of filament.
 
-The following commands are available when the
-[screws_tilt_adjust config section](Config_Reference.md#screws_tilt_adjust)
-is enabled (also see the
-[manual level guide](Manual_Level.md#adjusting-bed-leveling-screws-using-the-bed-probe)):
-- `SCREWS_TILT_CALCULATE [DIRECTION=CW|CCW] [<probe_parameter>=<value>]`:
-  This command will invoke the bed screws adjustment tool. It will command the
-  nozzle to different locations (as defined in the config file)
-  probing the z height and calculate the number of knob turns to
-  adjust the bed level. If DIRECTION is specified, the knob turns will all
-  be in the same direction, clockwise (CW) or counterclockwise (CCW).
-  See the PROBE command for details on the optional probe parameters.
-  IMPORTANT: You MUST always do a G28 before using this command.
+#### PALETTE_CUT
+`PALETTE_CUT`: This command instructs the Palette 2 to cut the
+filament currently loaded in the splice core.
 
-### Z Tilt
+#### PALETTE_SMART_LOAD
+`PALETTE_SMART_LOAD`: This command start the smart load sequence on
+the Palette 2. Filament is loaded automatically by extruding it the
+distance calibrated on the device for the printer, and instructs the
+Palette 2 once the loading has been completed. This command is the
+same as pressing **Smart Load** directly on the Palette 2 screen after
+the filament load is complete.
 
-The following commands are available when the
-[z_tilt config section](Config_Reference.md#z_tilt) is enabled:
-- `Z_TILT_ADJUST [<probe_parameter>=<value>]`: This command will probe
-  the points specified in the config and then make independent
-  adjustments to each Z stepper to compensate for tilt. See the PROBE
-  command for details on the optional probe parameters.
+### [pid_calibrate]
 
-### Dual Carriages
+The pid_calibrate module is automatically loaded if a heater is defined
+in the config file.
 
-The following command is available when the
-[dual_carriage config section](Config_Reference.md#dual_carriage) is
+#### PID_CALIBRATE
+`PID_CALIBRATE HEATER=<config_name> TARGET=<temperature>
+[WRITE_FILE=1]`: Perform a PID calibration test. The specified heater
+will be enabled until the specified target temperature is reached, and
+then the heater will be turned off and on for several cycles. If the
+WRITE_FILE parameter is enabled, then the file /tmp/heattest.txt will
+be created with a log of all temperature samples taken during the
+test.
+
+### [pause_resume]
+
+The following commands are available when the
+[pause_resume config section](Config_Reference.md#pause_resume) is
 enabled:
-- `SET_DUAL_CARRIAGE CARRIAGE=[0|1]`: This command will set the active
-  carriage. It is typically invoked from the activate_gcode and
-  deactivate_gcode fields in a multiple extruder configuration.
 
-### TMC stepper drivers
+#### PAUSE
+`PAUSE`: Pauses the current print. The current position is captured
+for restoration upon resume.
 
-The following commands are available when any of the
-[tmcXXXX config sections](Config_Reference.md#tmc-stepper-driver-configuration)
-are enabled:
-- `DUMP_TMC STEPPER=<name>`: This command will read the TMC driver
-  registers and report their values.
-- `INIT_TMC STEPPER=<name>`: This command will intitialize the TMC
-  registers. Needed to re-enable the driver if power to the chip is
-  turned off then back on.
-- `SET_TMC_CURRENT STEPPER=<name> CURRENT=<amps> HOLDCURRENT=<amps>`:
-  This will adjust the run and hold currents of the TMC driver.
-  (HOLDCURRENT is not applicable to tmc2660 drivers.)
-- `SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>`: This
-  will alter the value of the specified register field of the TMC
-  driver. This command is intended for low-level diagnostics and
-  debugging only because changing the fields during run-time can lead
-  to undesired and potentially dangerous behavior of your printer.
-  Permanent changes should be made using the printer configuration
-  file instead. No sanity checks are performed for the given values.
+#### RESUME
+`RESUME [VELOCITY=<value>]`: Resumes the print from a pause, first
+restoring the previously captured position. The VELOCITY parameter
+determines the speed at which the tool should return to the original
+captured position.
 
-### Endstop adjustments by stepper phase
+#### CLEAR_PAUSE
+`CLEAR_PAUSE`: Clears the current paused state without resuming the
+print. This is useful if one decides to cancel a print after a
+PAUSE. It is recommended to add this to your start gcode to make sure
+the paused state is fresh for each print.
 
-The following commands are available when an
-[endstop_phase config section](Config_Reference.md#endstop_phase) is
-enabled (also see the [endstop phase guide](Endstop_Phase.md)):
-- `ENDSTOP_PHASE_CALIBRATE [STEPPER=<config_name>]`: If no STEPPER
-  parameter is provided then this command will reports statistics on
-  endstop stepper phases during past homing operations. When a STEPPER
-  parameter is provided it arranges for the given endstop phase
-  setting to be written to the config file (in conjunction with the
-  SAVE_CONFIG command).
+#### CANCEL_PRINT
+`CANCEL_PRINT`: Cancels the current print.
 
-### Force movement
+### [probe]
 
-The following commands are available when the
-[force_move config section](Config_Reference.md#force_move) is
-enabled:
-- `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value> VELOCITY=<value>
-  [ACCEL=<value>]`: This command will forcibly move the given stepper
-  the given distance (in mm) at the given constant velocity (in
-  mm/s). If ACCEL is specified and is greater than zero, then the
-  given acceleration (in mm/s^2) will be used; otherwise no
-  acceleration is performed. No boundary checks are performed; no
-  kinematic updates are made; other parallel steppers on an axis will
-  not be moved. Use caution as an incorrect command could cause
-  damage! Using this command will almost certainly place the low-level
-  kinematics in an incorrect state; issue a G28 afterwards to reset
-  the kinematics. This command is intended for low-level diagnostics
-  and debugging.
-- `SET_KINEMATIC_POSITION [X=<value>] [Y=<value>] [Z=<value>]`: Force
-  the low-level kinematic code to believe the toolhead is at the given
-  cartesian position. This is a diagnostic and debugging command; use
-  SET_GCODE_OFFSET and/or G92 for regular axis transformations. If an
-  axis is not specified then it will default to the position that the
-  head was last commanded to. Setting an incorrect or invalid position
-  may lead to internal software errors. This command may invalidate
-  future boundary checks; issue a G28 afterwards to reset the
-  kinematics.
+The following commands are available when a
+[probe config section](Config_Reference.md#probe) or
+[bltouch config section](Config_Reference.md#bltouch) is enabled (also
+see the [probe calibrate guide](Probe_Calibrate.md)).
 
-### SDcard loop
+#### PROBE
+`PROBE [PROBE_SPEED=<mm/s>] [LIFT_SPEED=<mm/s>] [SAMPLES=<count>]
+[SAMPLE_RETRACT_DIST=<mm>] [SAMPLES_TOLERANCE=<mm>]
+[SAMPLES_TOLERANCE_RETRIES=<count>] [SAMPLES_RESULT=median|average]`:
+Move the nozzle downwards until the probe triggers. If any of the
+optional parameters are provided they override their equivalent
+setting in the [probe config section](Config_Reference.md#probe).
 
-When the [sdcard_loop config section](Config_Reference.md#sdcard_loop)
-is enabled, the following extended commands are available:
-- `SDCARD_LOOP_BEGIN COUNT=<count>`: Begin a looped section in the SD
-  print. A count of 0 indicates that the section should be looped
-  indefinately.
-- `SDCARD_LOOP_END`: End a looped section in the SD print.
-- `SDCARD_LOOP_DESIST`: Complete existing loops without further
-  iterations.
+#### QUERY_PROBE
+`QUERY_PROBE`: Report the current status of the probe ("triggered" or
+"open").
 
-### Send message (respond) to host
+#### PROBE_ACCURACY
+`PROBE_ACCURACY [PROBE_SPEED=<mm/s>] [SAMPLES=<count>]
+[SAMPLE_RETRACT_DIST=<mm>]`: Calculate the maximum, minimum, average,
+median, and standard deviation of multiple probe samples. By default,
+10 SAMPLES are taken. Otherwise the optional parameters default to
+their equivalent setting in the probe config section.
 
-The following commands are availabe when the
-[respond config section](Config_Reference.md#respond) is enabled.
+#### PROBE_CALIBRATE
+`PROBE_CALIBRATE [SPEED=<speed>] [<probe_parameter>=<value>]`: Run a
+helper script useful for calibrating the probe's z_offset. See the
+PROBE command for details on the optional probe parameters. See the
+MANUAL_PROBE command for details on the SPEED parameter and the
+additional commands available while the tool is active. Please note,
+the PROBE_CALIBRATE command uses the speed variable to move in XY
+direction as well as Z.
+
+#### Z_OFFSET_APPLY_PROBE
+`Z_OFFSET_APPLY_PROBE`: Take the current Z Gcode offset (aka,
+babystepping), and subtract if from the probe's z_offset.  This acts
+to take a frequently used babystepping value, and "make it permanent".
+Requires a `SAVE_CONFIG` to take effect.
+
+### [query_adc]
+
+The query_endstops module is automatically loaded.
+
+#### QUERY_ADC
+`QUERY_ADC [NAME=<config_name>] [PULLUP=<value>]`: Report the last
+analog value received for a configured analog pin. If NAME is not
+provided, the list of available adc names are reported. If PULLUP is
+provided (as a value in Ohms), the raw analog value along with the
+equivalent resistance given that pullup is reported.
+
+### [query_endstops]
+
+The query_endstops module is automatically loaded. The following
+standard G-Code commands are currently available, but using them is
+not recommended:
+- Get Endstop Status: `M119` (Use QUERY_ENDSTOPS instead.)
+
+#### QUERY_ENDSTOPS
+`QUERY_ENDSTOPS`: Probe the axis endstops and report if they are
+"triggered" or in an "open" state. This command is typically used to
+verify that an endstop is working correctly.
+
+### [resonance_tester]
+
+The following commands are available when a
+[resonance_tester config section](Config_Reference.md#resonance_tester)
+is enabled (also see the
+[measuring resonances guide](Measuring_Resonances.md)).
+
+#### MEASURE_AXES_NOISE
+`MEASURE_AXES_NOISE`: Measures and outputs the noise for all axes of
+all enabled accelerometer chips.
+
+#### TEST_RESONANCES
+`TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
+[NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
+[HZ_PER_SEC=<hz_per_sec>] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
+test in all configured probe points for the requested <axis> and
+measures the acceleration using the accelerometer chips configured for
+the respective axis. <axis> can either be X or Y, or specify an
+arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating
+point numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
+`AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy`
+and `AXIS=-dx,-dy` is equivalent. If `INPUT_SHAPING=0` or not set
+(default), disables input shaping for the resonance testing, because
+it is not valid to run the resonance testing with the input shaper
+enabled. `OUTPUT` parameter is a comma-separated list of which outputs
+will be written. If `raw_data` is requested, then the raw
+accelerometer data is written into a file or a series of files
+`/tmp/raw_data_<axis>_[<point>_]<name>.csv` with (`<point>_` part of
+the name generated only if more than 1 probe point is configured).  If
+`resonances` is specified, the frequency response is calculated
+(across all probe points) and written into
+`/tmp/resonances_<axis>_<name>.csv` file. If unset, OUTPUT defaults to
+`resonances`, and NAME defaults to the current time in
+"YYYYMMDD_HHMMSS" format.
+
+#### SHAPER_CALIBRATE
+`SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>] [FREQ_START=<min_freq>]
+[FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>]
+[MAX_SMOOTHING=<max_smoothing>]`: Similarly to `TEST_RESONANCES`, runs
+the resonance test as configured, and tries to find the optimal
+parameters for the input shaper for the requested axis (or both X and
+Y axes if `AXIS` parameter is unset). If `MAX_SMOOTHING` is unset, its
+value is taken from `[resonance_tester]` section, with the default
+being unset. See the
+[Max smoothing](Measuring_Resonances.md#max-smoothing) of the
+measuring resonances guide for more information on the use of this
+feature. The results of the tuning are printed to the console, and the
+frequency responses and the different input shapers values are written
+to a CSV file(s) `/tmp/calibration_data_<axis>_<name>.csv`. Unless
+specified, NAME defaults to the current time in "YYYYMMDD_HHMMSS"
+format. Note that the suggested input shaper parameters can be
+persisted in the config by issuing `SAVE_CONFIG` command.
+
+### [respond]
+
+The following standard G-Code commands are available when the
+[respond config section](Config_Reference.md#respond) is enabled:
 - `M118 <message>`: echo the message prepended with the configured
   default prefix (or `echo: ` if no prefix is configured).
+
+The following additional commands are also available.
+
+#### RESPOND
 - `RESPOND MSG="<message>"`: echo the message prepended with the
   configured default prefix (or `echo: ` if no prefix is configured).
 - `RESPOND TYPE=echo MSG="<message>"`: echo the message prepended with
   `echo: `.
 - `RESPOND TYPE=command MSG="<message>"`: echo the message prepended
-  with `// `.  Octopint can be configured to respond to these messages
+  with `// `.  OctoPrint can be configured to respond to these messages
   (e.g.  `RESPOND TYPE=command MSG=action:pause`).
 - `RESPOND TYPE=error MSG="<message>"`: echo the message prepended
   with `!! `.
@@ -599,269 +893,228 @@ The following commands are availabe when the
   prepended with `<prefix>`. (The `PREFIX` parameter will take
   priority over the `TYPE` parameter)
 
-### Pause Resume
+### [save_variables]
+
+The following command is enabled if a
+[save_variables config section](Config_Reference.md#save_variables)
+has been enabled.
+
+#### SAVE_VARIABLE
+`SAVE_VARIABLE VARIABLE=<name> VALUE=<value>`: Saves the variable to
+disk so that it can be used across restarts. All stored variables are
+loaded into the `printer.save_variables.variables` dict at startup and
+can be used in gcode macros. The provided VALUE is parsed as a Python
+literal.
+
+### [screws_tilt_adjust]
 
 The following commands are available when the
-[pause_resume config section](Config_Reference.md#pause_resume) is
-enabled:
-- `PAUSE`: Pauses the current print. The current position is captured
-  for restoration upon resume.
-- `RESUME [VELOCITY=<value>]`: Resumes the print from a pause, first
-  restoring the previously captured position.  The VELOCITY parameter
-  determines the speed at which the tool should return to the original
-  captured position.
-- `CLEAR_PAUSE`: Clears the current paused state without resuming the
-  print. This is useful if one decides to cancel a print after a
-  PAUSE. It is recommended to add this to your start gcode to make
-  sure the paused state is fresh for each print.
-- `CANCEL_PRINT`: Cancels the current print.
+[screws_tilt_adjust config section](Config_Reference.md#screws_tilt_adjust)
+is enabled (also see the
+[manual level guide](Manual_Level.md#adjusting-bed-leveling-screws-using-the-bed-probe)).
 
-### Filament Sensor
+#### SCREWS_TILT_CALCULATE
+`SCREWS_TILT_CALCULATE [DIRECTION=CW|CCW]
+[<probe_parameter>=<value>]`: This command will invoke the bed screws
+adjustment tool. It will command the nozzle to different locations (as
+defined in the config file) probing the z height and calculate the
+number of knob turns to adjust the bed level. If DIRECTION is
+specified, the knob turns will all be in the same direction, clockwise
+(CW) or counterclockwise (CCW). See the PROBE command for details on
+the optional probe parameters. IMPORTANT: You MUST always do a G28
+before using this command.
 
-The following command is available when the
-[filament_switch_sensor or filament_motion_sensor config section](Config_Reference.md#filament_switch_sensor)
-is enabled.
-- `QUERY_FILAMENT_SENSOR SENSOR=<sensor_name>`: Queries the current
-  status of the filament sensor. The data displayed on the terminal
-  will depend on the sensor type defined in the confguration.
-- `SET_FILAMENT_SENSOR SENSOR=<sensor_name> ENABLE=[0|1]`: Sets the
-  filament sensor on/off. If ENABLE is set to 0, the filament sensor
-  will be disabled, if set to 1 it is enabled.
+### [sdcard_loop]
 
-### Firmware Retraction
+When the [sdcard_loop config section](Config_Reference.md#sdcard_loop)
+is enabled, the following extended commands are available.
 
-The following commands are available when the
-[firmware_retraction config section](Config_Reference.md#firmware_retraction)
-is enabled. These commands allow you to utilise the firmware
-retraction feature available in many slicers, to reduce stringing
-during non-extrusion moves from one part of the print to another.
-Appropriately configuring pressure advance reduces the length of
-retraction required.
-- `SET_RETRACTION [RETRACT_LENGTH=<mm>] [RETRACT_SPEED=<mm/s>]
-  [UNRETRACT_EXTRA_LENGTH=<mm>] [UNRETRACT_SPEED=<mm/s>]`: Adjust the
-  parameters used by firmware retraction. RETRACT_LENGTH determines
-  the length of filament to retract and unretract. The speed of
-  retraction is adjusted via RETRACT_SPEED, and is typically set
-  relatively high. The speed of unretraction is adjusted via
-  UNRETRACT_SPEED, and is not particularly critical, although often
-  lower than RETRACT_SPEED. In some cases it is useful to add a small
-  amount of additional length on unretraction, and this is set via
-  UNRETRACT_EXTRA_LENGTH. SET_RETRACTION is commonly set as part of
-  slicer per-filament configuration, as different filaments require
-  different parameter settings.
-- `GET_RETRACTION`: Queries the current parameters used by firmware
-  retraction and displays them on the terminal.
-- `G10`: Retracts the extruder using the currently configured
-  parameters.
-- `G11`: Unretracts the extruder using the currently configured
-  parameters.
+#### SDCARD_LOOP_BEGIN
+`SDCARD_LOOP_BEGIN COUNT=<count>`: Begin a looped section in the SD
+print. A count of 0 indicates that the section should be looped
+indefinitely.
+
+#### SDCARD_LOOP_END
+`SDCARD_LOOP_END`: End a looped section in the SD print.
+
+#### SDCARD_LOOP_DESIST
+`SDCARD_LOOP_DESIST`: Complete existing loops without further
+iterations.
+
+### [servo]
+
+The following commands are available when a
+[servo config section](Config_Reference.md#servo) is enabled.
+
+#### SET_SERVO
+`SET_SERVO SERVO=config_name [ANGLE=<degrees> | WIDTH=<seconds>]`: Set
+the servo position to the given angle (in degrees) or pulse width (in
+seconds). Use `WIDTH=0` to disable the servo output.
 
-### Skew Correction
+### [skew_correction]
 
 The following commands are available when the
 [skew_correction config section](Config_Reference.md#skew_correction)
-is enabled (also see the [Skew Correction](Skew_Correction.md) guide):
-- `SET_SKEW [XY=<ac_length,bd_length,ad_length>] [XZ=<ac,bd,ad>]
-  [YZ=<ac,bd,ad>] [CLEAR=<0|1>]`: Configures the [skew_correction]
-  module with measurements (in mm) taken from a calibration print.
-  One may enter measurements for any combination of planes, planes not
-  entered will retain their current value. If `CLEAR=1` is entered
-  then all skew correction will be disabled.
-- `GET_CURRENT_SKEW`: Reports the current printer skew for each plane
-  in both radians and degrees. The skew is calculated based on
-  parameters provided via the `SET_SKEW` gcode.
-- `CALC_MEASURED_SKEW [AC=<ac_length>] [BD=<bd_length>]
-  [AD=<ad_length>]`: Calculates and reports the skew (in radians and
-  degrees) based on a measured print. This can be useful for
-  determining the printer's current skew after correction has been
-  applied. It may also be useful before correction is applied to
-  determine if skew correction is necessary. See [Skew Correction](Skew_Correction.md)
-  for details on skew calibration objects and measurements.
-- `SKEW_PROFILE [LOAD=<name>] [SAVE=<name>] [REMOVE=<name>]`: Profile
-  management for skew_correction. LOAD will restore skew state from
-  the profile matching the supplied name. SAVE will save the current
-  skew state to a profile matching the supplied name. Remove will
-  delete the profile matching the supplied name from persistent
-  memory. Note that after SAVE or REMOVE operations have been run the
-  SAVE_CONFIG gcode must be run to make the changes to peristent
-  memory permanent.
+is enabled (also see the [Skew Correction](Skew_Correction.md) guide).
 
-### Delayed GCode
+#### SET_SKEW
+`SET_SKEW [XY=<ac_length,bd_length,ad_length>] [XZ=<ac,bd,ad>]
+[YZ=<ac,bd,ad>] [CLEAR=<0|1>]`: Configures the [skew_correction]
+module with measurements (in mm) taken from a calibration print.  One
+may enter measurements for any combination of planes, planes not
+entered will retain their current value. If `CLEAR=1` is entered then
+all skew correction will be disabled.
 
-The following command is enabled if a
-[delayed_gcode config section](Config_Reference.md#delayed_gcode) has
-been enabled (also see the
-[template guide](Command_Templates.md#delayed-gcodes)):
-- `UPDATE_DELAYED_GCODE [ID=<name>] [DURATION=<seconds>]`:  Updates the
-  delay duration for the identified [delayed_gcode] and starts the timer
-  for gcode execution.  A value of 0 will cancel a pending delayed gcode
-  from executing.
+#### GET_CURRENT_SKEW
+`GET_CURRENT_SKEW`: Reports the current printer skew for each plane in
+both radians and degrees. The skew is calculated based on parameters
+provided via the `SET_SKEW` gcode.
 
-### Save Variables
+#### CALC_MEASURED_SKEW
+`CALC_MEASURED_SKEW [AC=<ac_length>] [BD=<bd_length>]
+[AD=<ad_length>]`: Calculates and reports the skew (in radians and
+degrees) based on a measured print. This can be useful for determining
+the printer's current skew after correction has been applied. It may
+also be useful before correction is applied to determine if skew
+correction is necessary. See [Skew Correction](Skew_Correction.md) for
+details on skew calibration objects and measurements.
 
-The following command is enabled if a
-[save_variables config section](Config_Reference.md#save_variables)
-has been enabled:
-- `SAVE_VARIABLE VARIABLE=<name> VALUE=<value>`: Saves the variable to
-  disk so that it can be used across restarts. All stored variables
-  are loaded into the `printer.save_variables.variables` dict at
-  startup and can be used in gcode macros. The provided VALUE is
-  parsed as a Python literal.
+#### SKEW_PROFILE
+`SKEW_PROFILE [LOAD=<name>] [SAVE=<name>] [REMOVE=<name>]`: Profile
+management for skew_correction. LOAD will restore skew state from the
+profile matching the supplied name. SAVE will save the current skew
+state to a profile matching the supplied name. Remove will delete the
+profile matching the supplied name from persistent memory. Note that
+after SAVE or REMOVE operations have been run the SAVE_CONFIG gcode
+must be run to make the changes to persistent memory permanent.
 
-### Resonance compensation
+### [stepper_enable]
 
-The following command is enabled if an
-[input_shaper config section](Config_Reference.md#input_shaper) has
-been enabled (also see the
-[resonance compensation guide](Resonance_Compensation.md)):
-- `SET_INPUT_SHAPER [SHAPER_FREQ_X=<shaper_freq_x>]
-  [SHAPER_FREQ_Y=<shaper_freq_y>]
-  [DAMPING_RATIO_X=<damping_ratio_x>]
-  [DAMPING_RATIO_Y=<damping_ratio_y>] [SHAPER_TYPE=<shaper>]
-  [SHAPER_TYPE_X=<shaper_type_x>] [SHAPER_TYPE_Y=<shaper_type_y>]`:
-  Modify input shaper parameters. Note that SHAPER_TYPE parameter
-  resets input shaper for both X and Y axes even if different shaper
-  types have been configured in [input_shaper] section. SHAPER_TYPE
-  cannot be used together with either of SHAPER_TYPE_X and
-  SHAPER_TYPE_Y parameters. See
-  [config reference](Config_Reference.md#input_shaper) for more
-  details on each of these parameters.
+The stepper_enable module is automatically loaded.
+
+#### SET_STEPPER_ENABLE
+`SET_STEPPER_ENABLE STEPPER=<config_name> ENABLE=[0|1]`: Enable or
+disable only the given stepper. This is a diagnostic and debugging
+tool and must be used with care. Disabling an axis motor does not
+reset the homing information. Manually moving a disabled stepper may
+cause the machine to operate the motor outside of safe limits. This
+can lead to damage to axis components, hot ends, and print surface.
 
-### Temperature Fan Commands
+### [temperature_fan]
 
 The following command is available when a
 [temperature_fan config section](Config_Reference.md#temperature_fan)
-is enabled:
-- `SET_TEMPERATURE_FAN_TARGET temperature_fan=<temperature_fan_name>
-  [target=<target_temperature>] [min_speed=<min_speed>]  [max_speed=<max_speed>]`: Sets the target temperature for a
-  temperature_fan. If a target is not supplied, it is set to the
-  specified temperature in the config file. If speeds are not supplied, no change is applied.
+is enabled.
 
-### Adxl345 Accelerometer Commands
+#### SET_TEMPERATURE_FAN_TARGET
+`SET_TEMPERATURE_FAN_TARGET temperature_fan=<temperature_fan_name>
+[target=<target_temperature>] [min_speed=<min_speed>]
+[max_speed=<max_speed>]`: Sets the target temperature for a
+temperature_fan. If a target is not supplied, it is set to the
+specified temperature in the config file. If speeds are not supplied,
+no change is applied.
 
-The following commands are available when an
-[adxl345 config section](Config_Reference.md#adxl345) is enabled:
-- `ACCELEROMETER_MEASURE [CHIP=<config_name>] [NAME=<value>]`: Starts
-  accelerometer measurements at the requested number of samples per
-  second. If CHIP is not specified it defaults to "adxl345". The
-  command works in a start-stop mode: when executed for the first
-  time, it starts the measurements, next execution stops them. The
-  results of measurements are written to a file named
-  `/tmp/adxl345-<chip>-<name>.csv` where `<chip>` is the name of the
-  accelerometer chip (`my_chip_name` from `[adxl345 my_chip_name]`)
-  and `<name>` is the optional NAME parameter. If NAME is not
-  specified it defaults to the current time in "YYYYMMDD_HHMMSS"
-  format. If the accelerometer does not have a name in its config
-  section (simply `[adxl345]`) then `<chip>` part of the name is not
-  generated.
-- `ACCELEROMETER_QUERY [CHIP=<config_name>] [RATE=<value>]`: queries
-  accelerometer for the current value. If CHIP is not specified it
-  defaults to "adxl345". If RATE is not specified, the default value
-  is used. This command is useful to test the connection to the
-  ADXL345 accelerometer: one of the returned values should be a
-  free-fall acceleration (+/- some noise of the chip).
-- `ACCELEROMETER_DEBUG_READ [CHIP=<config_name>] REG=<register>`: queries
-  ADXL345 register <register> (e.g. 44 or 0x2C). Can be useful for
-  debugging purposes.
-- `ACCELEROMETER_DEBUG_WRITE [CHIP=<config_name>] REG=<reg> VAL=<value>`:
-  writes raw <value> into a register <register>. Both <value> and
-  <register> can be a decimal or a hexadecimal integer. Use with care,
-  and refer to ADXL345 data sheet for the reference.
+### [tmcXXXX]
 
-### Resonance Testing Commands
+The following commands are available when any of the
+[tmcXXXX config sections](Config_Reference.md#tmc-stepper-driver-configuration)
+are enabled.
 
-The following commands are available when a
-[resonance_tester config section](Config_Reference.md#resonance_tester)
-is enabled (also see the
-[measuring resonances guide](Measuring_Resonances.md)):
-- `MEASURE_AXES_NOISE`: Measures and outputs the noise for all axes of
-  all enabled accelerometer chips.
-- `TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
-  [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-  [HZ_PER_SEC=<hz_per_sec>] [INPUT_SHAPING=[<0:1>]]`: Runs the resonance
-  test in all configured probe points for the requested <axis>
-  and measures the acceleration using the accelerometer chips configured
-  for the respective axis. <axis> can either be X or Y, or specify an
-  arbitrary direction as `AXIS=dx,dy`, where dx and dy are floating point
-  numbers defining a direction vector (e.g. `AXIS=X`, `AXIS=Y`, or
-  `AXIS=1,-1` to define a diagonal direction). Note that `AXIS=dx,dy` and
-  `AXIS=-dx,-dy` is equivalent. If `INPUT_SHAPING=0` or not set (default),
-  disables input shaping for the resonance testing, because it is not valid
-  to run the resonance testing with the input shaper enabled.
-  `OUTPUT` parameter is a comma-separated list of which outputs will be
-  written. If `raw_data` is requested, then the raw accelerometer data
-  is written into a file or a series of files
-  `/tmp/raw_data_<axis>_[<point>_]<name>.csv` with (`<point>_` part of
-  the name generated only if more than 1 probe point is configured).
-  If `resonances` is specified, the frequency response is calculated
-  (across all probe points) and written into
-  `/tmp/resonances_<axis>_<name>.csv` file. If unset, OUTPUT defaults
-  to `resonances`, and NAME defaults to the current time in
-  "YYYYMMDD_HHMMSS" format.
-- `SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>]
-  [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
-  [HZ_PER_SEC=<hz_per_sec>] [MAX_SMOOTHING=<max_smoothing>]`:
-  Similarly to `TEST_RESONANCES`, runs the resonance test as configured,
-  and tries to find the optimal parameters for the input shaper for the
-  requested axis (or both X and Y axes if `AXIS` parameter is unset).
-  If `MAX_SMOOTHING` is unset, its value is taken from `[resonance_tester]`
-  section, with the default being unset. See the
-  [Max smoothing](Measuring_Resonances.md#max-smoothing) of the measuring
-  resonances guide for more information on the use of this feature.
-  The results of the tuning are printed to the console, and the frequency
-  responses and the different input shapers values are written to a CSV
-  file(s) `/tmp/calibration_data_<axis>_<name>.csv`. Unless specified, NAME
-  defaults to the current time in "YYYYMMDD_HHMMSS" format. Note that
-  the suggested input shaper parameters can be persisted in the config
-  by issuing `SAVE_CONFIG` command.
+#### DUMP_TMC
+`DUMP_TMC STEPPER=<name>`: This command will read the TMC driver
+registers and report their values.
 
-### Palette 2 Commands
+#### INIT_TMC
+`INIT_TMC STEPPER=<name>`: This command will initialize the TMC
+registers. Needed to re-enable the driver if power to the chip is
+turned off then back on.
 
-The following command is available when the
-[palette2 config section](Config_Reference.md#palette2)
-is enabled:
-- `PALETTE_CONNECT`: This command initializes the connection with
-  the Palette 2.
-- `PALETTE_DISCONNECT`: This command disconnects from the Palette 2.
-- `PALETTE_CLEAR`: This command instructs the Palette 2 to clear all of the
-  input and output paths of filament.
-- `PALETTE_CUT`: This command instructs the Palette 2 to cut the filament
-  currently loaded in the splice core.
-- `PALETTE_SMART_LOAD`: This command start the smart load sequence on the
-  Palette 2. Filament is loaded automatically by extruding it the distance
-  calibrated on the device for the printer, and instructs the Palette 2
-  once the loading has been completed. This command is the same as pressing
-  **Smart Load** directly on the Palette 2 screen after the filament load
-  is complete.
+#### SET_TMC_CURRENT
+`SET_TMC_CURRENT STEPPER=<name> CURRENT=<amps> HOLDCURRENT=<amps>`:
+This will adjust the run and hold currents of the TMC driver.
+(HOLDCURRENT is not applicable to tmc2660 drivers.)
 
-Palette prints work by embedding special OCodes (Omega Codes)
-in the GCode file:
-- `O1`...`O32`: These codes are read from the GCode stream and processed
-  by this module and passed to the Palette 2 device.
+#### SET_TMC_FIELD
+`SET_TMC_FIELD STEPPER=<name> FIELD=<field> VALUE=<value>`: This will
+alter the value of the specified register field of the TMC driver.
+This command is intended for low-level diagnostics and debugging only
+because changing the fields during run-time can lead to undesired and
+potentially dangerous behavior of your printer. Permanent changes
+should be made using the printer configuration file instead. No sanity
+checks are performed for the given values.
 
-### Filament Width Sensor Commands
+### [toolhead]
 
-The following command is available when the
-[tsl1401cl filament width sensor config section](Config_Reference.md#tsl1401cl_filament_width_sensor)
-or [hall filament width sensor config section](Config_Reference.md#hall_filament_width_sensor)
-is enabled (also see [TSLl401CL Filament Width Sensor](TSL1401CL_Filament_Width_Sensor.md)
-and [Hall Filament Width Sensor](Hall_Filament_Width_Sensor.md)):
+The toolhead module is automatically loaded.
 
-- `QUERY_FILAMENT_WIDTH` - Return the current measured filament width
-- `RESET_FILAMENT_WIDTH_SENSOR` - Clear all sensor readings. Helpful after
-  filament change
-- `DISABLE_FILAMENT_WIDTH_SENSOR` - Turn off the filament width sensor and
-  stop using it for flow control
-- `ENABLE_FILAMENT_WIDTH_SENSOR` - Turn on the filament width sensor and
-  start using it for flow control
+#### SET_VELOCITY_LIMIT
+`SET_VELOCITY_LIMIT [VELOCITY=<value>] [ACCEL=<value>]
+[ACCEL_TO_DECEL=<value>] [SQUARE_CORNER_VELOCITY=<value>]`: Modify the
+printer's velocity limits.
 
-### Hall Filament Width Sensor Commands
+### [tuning_tower]
 
-The following command is available when the
-[hall filament width sensor config section](Config_Reference.md#hall_filament_width_sensor)
-is enabled:
+The tuning_tower module is automatically loaded.
+
+#### TUNING_TOWER
+`TUNING_TOWER COMMAND=<command> PARAMETER=<name> START=<value>
+[SKIP=<value>] [FACTOR=<value> [BAND=<value>]] | [STEP_DELTA=<value>
+STEP_HEIGHT=<value>]`: A tool for tuning a parameter on each Z height
+during a print. The tool will run the given `COMMAND` with the given
+`PARAMETER` assigned to a value that varies with `Z` according to a
+formula. Use `FACTOR` if you will use a ruler or calipers to measure
+the Z height of the optimum value, or `STEP_DELTA` and `STEP_HEIGHT`
+if the tuning tower model has bands of discrete values as is common
+with temperature towers. If `SKIP=<value>` is specified, the tuning
+process doesn't begin until Z height `<value>` is reached, and below
+that the value will be set to `START`; in this case, the `z_height`
+used in the formulas below is actually `max(z - skip, 0)`.  There are
+three possible combinations of options:
+- `FACTOR`: The value changes at a rate of `factor` per millimeter.
+  The formula used is: `value = start + factor * z_height`. You can
+  plug the optimum Z height directly into the formula to determine the
+  optimum parameter value.
+- `FACTOR` and `BAND`: The value changes at an average rate of
+  `factor` per millimeter, but in discrete bands where the adjustment
+  will only be made every `BAND` millimeters of Z height.
+  The formula used is:
+  `value = start + factor * ((floor(z_height / band) + .5) * band)`.
+- `STEP_DELTA` and `STEP_HEIGHT`: The value changes by `STEP_DELTA`
+  every `STEP_HEIGHT` millimeters. The formula used is:
+  `value = start + step_delta * floor(z_height / step_height)`.
+  You can simply count bands or read tuning tower labels to determine
+  the optimum value.
+
+### [virtual_sdcard]
+
+Klipper supports the following standard G-Code commands if the
+[virtual_sdcard config section](Config_Reference.md#virtual_sdcard) is
+enabled:
+- List SD card: `M20`
+- Initialize SD card: `M21`
+- Select SD file: `M23 <filename>`
+- Start/resume SD print: `M24`
+- Pause SD print: `M25`
+- Set SD position: `M26 S<offset>`
+- Report SD print status: `M27`
+
+In addition, the following extended commands are available when the
+"virtual_sdcard" config section is enabled.
+
+#### SDCARD_PRINT_FILE
+`SDCARD_PRINT_FILE FILENAME=<filename>`: Load a file and start SD
+print.
+
+#### SDCARD_RESET_FILE
+`SDCARD_RESET_FILE`: Unload file and clear SD state.
+
+### [z_tilt]
+
+The following commands are available when the
+[z_tilt config section](Config_Reference.md#z_tilt) is enabled.
 
-- `QUERY_RAW_FILAMENT_WIDTH` - Return the current ADC channel readings and
-  RAW sensor value for calibration points
-- `ENABLE_FILAMENT_WIDTH_LOG` - Turn on diameter logging
-- `DISABLE_FILAMENT_WIDTH_LOG` - Turn off diameter logging
+#### Z_TILT_ADJUST
+`Z_TILT_ADJUST [<probe_parameter>=<value>]`: This command will probe
+the points specified in the config and then make independent
+adjustments to each Z stepper to compensate for tilt. See the PROBE
+command for details on the optional probe parameters.