Handle command parsing errors using exceptions

31 files changed, 3652 insertions, 3605 deletions

diff --git a/src/CAN/CanMessageGenericConstructor.cpp b/src/CAN/CanMessageGenericConstructor.cpp
index 3a270c57..c13307c2 100644
--- a/src/CAN/CanMessageGenericConstructor.cpp
+++ b/src/CAN/CanMessageGenericConstructor.cpp
@@ -117,11 +117,7 @@ bool CanMessageGenericConstructor::PopulateFromCommand(GCodeBuffer& gb, const St
 			case ParamDescriptor::char_p:
 				{
 					String<StringLength20> str;
-					if (!gb.GetQuotedString(str.GetRef()))
-					{
-						reply.printf("expected quoted string after '%c'", d->letter);
-						return false;
-					}
+					gb.GetQuotedString(str.GetRef());
 					if (str.strlen() != 1)
 					{
 						reply.printf("expected single-character quoted string after '%c'", d->letter);
@@ -135,11 +131,7 @@ bool CanMessageGenericConstructor::PopulateFromCommand(GCodeBuffer& gb, const St
 			case ParamDescriptor::string:
 				{
 					String<StringLength20> str;
-					if (!gb.GetQuotedString(str.GetRef()))
-					{
-						reply.printf("expected quoted string after '%c'", d->letter);
-						return false;
-					}
+					gb.GetQuotedString(str.GetRef());
 					overflowed = StoreValue(str.c_str(), str.strlen() + 1);
 				}
 				break;
@@ -147,11 +139,7 @@ bool CanMessageGenericConstructor::PopulateFromCommand(GCodeBuffer& gb, const St
 			case ParamDescriptor::reducedString:
 				{
 					String<StringLength20> str;
-					if (!gb.GetReducedString(str.GetRef()))
-					{
-						reply.printf("expected quoted string after '%c'", d->letter);
-						return false;
-					}
+					gb.GetReducedString(str.GetRef());
 					// We don't want port names sent to expansion boards to include the board number, so remove the board number.
 					// We also use the reducedString type for sensor names, but they should't start with digits followed by '.'.
 					(void)IoPort::RemoveBoardAddress(str.GetRef());
diff --git a/src/DuetM/Pins_DuetM.h b/src/DuetM/Pins_DuetM.h
index e6bd13ea..4208a797 100644
--- a/src/DuetM/Pins_DuetM.h
+++ b/src/DuetM/Pins_DuetM.h
@@ -40,7 +40,6 @@ constexpr uint32_t IAP_IMAGE_END = 0x0047FFFF;								// we allow a full 64K on
 #define HAS_VOLTAGE_MONITOR		1
 #define ENFORCE_MAX_VIN			0
 #define HAS_VREF_MONITOR		1
-#define ACTIVE_LOW_HEAT_ON		1
 
 #define SUPPORT_INKJET			0					// set nonzero to support inkjet control
 #define SUPPORT_ROLAND			0					// set nonzero to support Roland mill
diff --git a/src/Endstops/SwitchEndstop.cpp b/src/Endstops/SwitchEndstop.cpp
index 00e0e2dd..4b000710 100644
--- a/src/Endstops/SwitchEndstop.cpp
+++ b/src/Endstops/SwitchEndstop.cpp
@@ -56,12 +56,7 @@ void SwitchEndstop::ReleasePorts()
 GCodeResult SwitchEndstop::Configure(GCodeBuffer& gb, const StringRef& reply)
 {
 	String<StringLength50> portNames;
-	if (!gb.GetReducedString(portNames.GetRef()))
-	{
-		reply.copy("Missing port name string");
-		return GCodeResult::error;
-	}
-
+	gb.GetReducedString(portNames.GetRef());
 	return Configure(portNames.c_str(), reply);
 }
 
diff --git a/src/Fans/Fan.cpp b/src/Fans/Fan.cpp
index c45f602c..d9453398 100644
--- a/src/Fans/Fan.cpp
+++ b/src/Fans/Fan.cpp
@@ -107,9 +107,10 @@ bool Fan::Configure(unsigned int mcode, size_t fanNum, GCodeBuffer& gb, const St
 			}
 		}
 
-		if (gb.Seen('C') && gb.GetQuotedString(name.GetRef()))
+		if (gb.Seen('C'))
 		{
 			seen = true;
+			gb.GetQuotedString(name.GetRef());
 		}
 
 		if (seen)
diff --git a/src/Fans/FansManager.cpp b/src/Fans/FansManager.cpp
index 7aa484b3..721c4260 100644
--- a/src/Fans/FansManager.cpp
+++ b/src/Fans/FansManager.cpp
@@ -96,11 +96,7 @@ GCodeResult FansManager::ConfigureFanPort(uint32_t fanNum, GCodeBuffer& gb, cons
 		if (seenPin)
 		{
 			String<StringLength50> pinName;
-			if (!gb.GetReducedString(pinName.GetRef()))
-			{
-				reply.copy("Missing pin name");
-				return GCodeResult::error;
-			}
+			gb.GetReducedString(pinName.GetRef());
 
 			WriteLocker lock(fansLock);
 
diff --git a/src/GCodes/GCodeBuffer/BinaryParser.cpp b/src/GCodes/GCodeBuffer/BinaryParser.cpp
index 870e1673..91f1a6d3 100644
--- a/src/GCodes/GCodeBuffer/BinaryParser.cpp
+++ b/src/GCodes/GCodeBuffer/BinaryParser.cpp
@@ -115,8 +115,7 @@ float BinaryParser::GetFValue()
 		return value;
 	}
 
-	INTERNAL_ERROR;
-	return 0.0f;
+	THROW_INTERNAL_ERROR;
 }
 
 int32_t BinaryParser::GetIValue()
@@ -144,8 +143,7 @@ int32_t BinaryParser::GetIValue()
 		return value;
 	}
 
-	INTERNAL_ERROR;
-	return 0;
+	THROW_INTERNAL_ERROR;
 }
 
 uint32_t BinaryParser::GetUIValue()
@@ -173,8 +171,7 @@ uint32_t BinaryParser::GetUIValue()
 		return value;
 	}
 
-	INTERNAL_ERROR;
-	return 0;
+	THROW_INTERNAL_ERROR;
 }
 
 // Get a driver ID
@@ -200,24 +197,19 @@ DriverId BinaryParser::GetDriverId()
 		return value;
 	}
 
-	INTERNAL_ERROR;
-	value.Clear();
-	return value;
+	THROW_INTERNAL_ERROR;
 }
 
-bool BinaryParser::GetIPAddress(IPAddress& returnedIp)
+void BinaryParser::GetIPAddress(IPAddress& returnedIp)
 {
 	if (seenParameter == nullptr)
 	{
-		INTERNAL_ERROR;
-		return false;
+		THROW_INTERNAL_ERROR;
 	}
 
 	if (seenParameter->type != DataType::String)
 	{
-		seenParameter = nullptr;
-		seenParameterValue = nullptr;
-		return false;
+		throw ConstructParseException("IP address string expected");
 	}
 
 	const char* p = seenParameterValue;
@@ -229,9 +221,7 @@ bool BinaryParser::GetIPAddress(IPAddress& returnedIp)
 		const unsigned long v = SafeStrtoul(p, &pp);
 		if (pp == p || pp > seenParameterValue + seenParameter->intValue || v > 255)
 		{
-			seenParameter = nullptr;
-			seenParameterValue = nullptr;
-			return false;
+			throw ConstructParseException("invalid IP address");
 		}
 		ip[n] = (uint8_t)v;
 		++n;
@@ -242,36 +232,30 @@ bool BinaryParser::GetIPAddress(IPAddress& returnedIp)
 		}
 		if (n == 4)
 		{
-			seenParameter = nullptr;
-			seenParameterValue = nullptr;
-			return false;
+			throw ConstructParseException("invalid IP address");
 		}
 		++p;
 	}
 	seenParameter = nullptr;
 	seenParameterValue = nullptr;
-	if (n == 4)
+	if (n != 4)
 	{
-		returnedIp.SetV4(ip);
-		return true;
+		throw ConstructParseException("invalid IP address");
 	}
-	returnedIp.SetNull();
-	return false;
+
+	returnedIp.SetV4(ip);
 }
 
-bool BinaryParser::GetMacAddress(uint8_t mac[6])
+void BinaryParser::GetMacAddress(uint8_t mac[6])
 {
 	if (seenParameter == nullptr)
 	{
-		INTERNAL_ERROR;
-		return false;
+		THROW_INTERNAL_ERROR;
 	}
 
 	if (seenParameter->type != DataType::String)
 	{
-		seenParameter = nullptr;
-		seenParameterValue = nullptr;
-		return false;
+		throw ConstructParseException("MAC address string expected");
 	}
 
 	const char* p = seenParameterValue;
@@ -282,9 +266,7 @@ bool BinaryParser::GetMacAddress(uint8_t mac[6])
 		const unsigned long v = SafeStrtoul(p, &pp, 16);
 		if (pp == p || pp > seenParameterValue + seenParameter->intValue || v > 255)
 		{
-			seenParameter = nullptr;
-			seenParameterValue = nullptr;
-			return false;
+			throw ConstructParseException("invalid MAC address");
 		}
 		mac[n] = (uint8_t)v;
 		++n;
@@ -295,30 +277,36 @@ bool BinaryParser::GetMacAddress(uint8_t mac[6])
 		}
 		if (n == 6)
 		{
-			seenParameter = nullptr;
-			seenParameterValue = nullptr;
-			return false;
+			throw ConstructParseException("invalid MAC address");
 		}
 		++p;
 	}
+
+	if (n != 6)
+	{
+		throw ConstructParseException("invalid MAC address");
+	}
+
 	seenParameter = nullptr;
 	seenParameterValue = nullptr;
-	return n == 6;
 }
 
-bool BinaryParser::GetUnprecedentedString(const StringRef& str)
+void BinaryParser::GetUnprecedentedString(const StringRef& str, bool allowEmpty)
 {
 	str.Clear();
 	WriteParameters(str, false);
-	return !str.IsEmpty();
+	if (!allowEmpty && str.IsEmpty())
+	{
+		throw ConstructParseException("non-empty string expected");
+	}
 }
 
-bool BinaryParser::GetQuotedString(const StringRef& str)
+void BinaryParser::GetQuotedString(const StringRef& str)
 {
-	return GetPossiblyQuotedString(str);
+	GetPossiblyQuotedString(str);
 }
 
-bool BinaryParser::GetPossiblyQuotedString(const StringRef& str)
+void BinaryParser::GetPossiblyQuotedString(const StringRef& str)
 {
 	if (seenParameter != nullptr && (seenParameter->type == DataType::String || seenParameter->type == DataType::Expression))
 	{
@@ -330,10 +318,13 @@ bool BinaryParser::GetPossiblyQuotedString(const StringRef& str)
 	}
 	seenParameter = nullptr;
 	seenParameterValue = nullptr;
-	return !str.IsEmpty();
+	if (str.IsEmpty())
+	{
+		throw ConstructParseException("non-empty string expected");
+	}
 }
 
-bool BinaryParser::GetReducedString(const StringRef& str)
+void BinaryParser::GetReducedString(const StringRef& str)
 {
 	str.Clear();
 	if (seenParameterValue != nullptr && (seenParameter->type == DataType::String || seenParameter->type == DataType::Expression))
@@ -353,7 +344,7 @@ bool BinaryParser::GetReducedString(const StringRef& str)
 				{
 					seenParameter = nullptr;
 					seenParameterValue = nullptr;
-					return false;
+					throw ConstructParseException("control character in string");
 				}
 				str.cat(tolower(c));
 				break;
@@ -363,7 +354,10 @@ bool BinaryParser::GetReducedString(const StringRef& str)
 
 	seenParameter = nullptr;
 	seenParameterValue = nullptr;
-	return !str.IsEmpty();
+	if (str.IsEmpty())
+	{
+		throw ConstructParseException("non-empty string expected");
+	}
 }
 
 void BinaryParser::GetFloatArray(float arr[], size_t& length, bool doPad)
@@ -386,9 +380,7 @@ void BinaryParser::GetDriverIdArray(DriverId arr[], size_t& length)
 {
 	if (seenParameter == nullptr)
 	{
-		INTERNAL_ERROR;
-		length = 0;
-		return;
+		THROW_INTERNAL_ERROR;
 	}
 
 	switch (seenParameter->type)
@@ -484,9 +476,7 @@ template<typename T> void BinaryParser::GetArray(T arr[], size_t& length, bool d
 {
 	if (seenParameter == nullptr)
 	{
-		INTERNAL_ERROR;
-		length = 0;
-		return;
+		THROW_INTERNAL_ERROR;
 	}
 
 	int lastIndex = -1;
@@ -648,3 +638,19 @@ void BinaryParser::WriteParameters(const StringRef& s, bool quoteStrings) const
 	}
 }
 
+ParseException BinaryParser::ConstructParseException(const char *str) const
+{
+	return ParseException(-1, str);
+}
+
+ParseException BinaryParser::ConstructParseException(const char *str, const char *param) const
+{
+	return ParseException(-1, str, param);
+}
+
+ParseException BinaryParser::ConstructParseException(const char *str, uint32_t param) const
+{
+	return ParseException(-1, str, param);
+}
+
+// End
diff --git a/src/GCodes/GCodeBuffer/BinaryParser.h b/src/GCodes/GCodeBuffer/BinaryParser.h
index cfd412a7..ebfb85fb 100644
--- a/src/GCodes/GCodeBuffer/BinaryParser.h
+++ b/src/GCodes/GCodeBuffer/BinaryParser.h
@@ -11,6 +11,7 @@
 #include "Linux/MessageFormats.h"
 #include "MessageType.h"
 #include "RepRapFirmware.h"
+#include "ParseException.h"
 
 class GCodeBuffer;
 class IPAddress;
@@ -28,20 +29,20 @@ public:
 	int GetCommandNumber() const;
 	int8_t GetCommandFraction() const;
 
-	float GetFValue() __attribute__((hot));				// Get a float after a key letter
-	int32_t GetIValue() __attribute__((hot));			// Get an integer after a key letter
-	uint32_t GetUIValue();								// Get an unsigned integer value
-	DriverId GetDriverId();								// Get a driver ID
-	bool GetIPAddress(IPAddress& returnedIp);			// Get an IP address quad after a key letter
-	bool GetMacAddress(uint8_t mac[6]);					// Get a MAC address sextet after a key letter
-	bool GetUnprecedentedString(const StringRef& str);	// Get a string with no preceding key letter
-	bool GetQuotedString(const StringRef& str);			// Get and copy a quoted string
-	bool GetPossiblyQuotedString(const StringRef& str);	// Get and copy a string which may or may not be quoted
-	bool GetReducedString(const StringRef& str);		// Get and copy a quoted string, removing certain characters
-	void GetFloatArray(float arr[], size_t& length, bool doPad) __attribute__((hot)); // Get a colon-separated list of floats after a key letter
-	void GetIntArray(int32_t arr[], size_t& length, bool doPad);		// Get a :-separated list of ints after a key letter
-	void GetUnsignedArray(uint32_t arr[], size_t& length, bool doPad);	// Get a :-separated list of unsigned ints after a key letter
-	void GetDriverIdArray(DriverId arr[], size_t& length);	// Get a :-separated list of drivers after a key letter
+	float GetFValue() THROWS_PARSE_ERROR __attribute__((hot));				// Get a float after a key letter
+	int32_t GetIValue() THROWS_PARSE_ERROR __attribute__((hot));			// Get an integer after a key letter
+	uint32_t GetUIValue() THROWS_PARSE_ERROR;								// Get an unsigned integer value
+	DriverId GetDriverId() THROWS_PARSE_ERROR;								// Get a driver ID
+	void GetIPAddress(IPAddress& returnedIp) THROWS_PARSE_ERROR;			// Get an IP address quad after a key letter
+	void GetMacAddress(uint8_t mac[6]) THROWS_PARSE_ERROR;					// Get a MAC address sextet after a key letter
+	void GetUnprecedentedString(const StringRef& str, bool allowEmpty) THROWS_PARSE_ERROR;	// Get a string with no preceding key letter
+	void GetQuotedString(const StringRef& str) THROWS_PARSE_ERROR;			// Get and copy a quoted string
+	void GetPossiblyQuotedString(const StringRef& str) THROWS_PARSE_ERROR;	// Get and copy a string which may or may not be quoted
+	void GetReducedString(const StringRef& str) THROWS_PARSE_ERROR;			// Get and copy a quoted string, removing certain characters
+	void GetFloatArray(float arr[], size_t& length, bool doPad) THROWS_PARSE_ERROR __attribute__((hot)); // Get a colon-separated list of floats after a key letter
+	void GetIntArray(int32_t arr[], size_t& length, bool doPad) THROWS_PARSE_ERROR;		// Get a :-separated list of ints after a key letter
+	void GetUnsignedArray(uint32_t arr[], size_t& length, bool doPad) THROWS_PARSE_ERROR;	// Get a :-separated list of unsigned ints after a key letter
+	void GetDriverIdArray(DriverId arr[], size_t& length) THROWS_PARSE_ERROR;	// Get a :-separated list of drivers after a key letter
 
 	void SetFinished();									// Set the G Code finished
 
@@ -54,9 +55,12 @@ public:
 	void AppendFullCommand(const StringRef &s) const;
 
 private:
-
 	GCodeBuffer& gb;
 
+	ParseException ConstructParseException(const char *str) const;
+	ParseException ConstructParseException(const char *str, const char *param) const;
+	ParseException ConstructParseException(const char *str, uint32_t param) const;
+
 	size_t AddPadding(size_t bytesRead) const;
 	template<typename T> void GetArray(T arr[], size_t& length, bool doPad) __attribute__((hot));
 	void WriteParameters(const StringRef& s, bool quoteStrings) const;
diff --git a/src/GCodes/GCodeBuffer/GCodeBuffer.cpp b/src/GCodes/GCodeBuffer/GCodeBuffer.cpp
index 158783d3..62b43164 100644
--- a/src/GCodes/GCodeBuffer/GCodeBuffer.cpp
+++ b/src/GCodes/GCodeBuffer/GCodeBuffer.cpp
@@ -13,6 +13,7 @@
 #endif
 #include "BinaryParser.h"
 #include "StringParser.h"
+#include "ParseException.h"
 #include "RepRap.h"
 #include "Platform.h"
 
@@ -181,6 +182,15 @@ bool GCodeBuffer::Seen(char c)
 	return isBinaryBuffer ? binaryParser.Seen(c) : stringParser.Seen(c);
 }
 
+// Test for character present, throw error if not
+void GCodeBuffer::MustSee(char c)
+{
+	if (!Seen(c))
+	{
+		throw ParseException(-1, "missing parameter '%c'", (uint32_t)c);
+	}
+}
+
 // Get a float after a key letter
 float GCodeBuffer::GetFValue()
 {
@@ -206,38 +216,80 @@ uint32_t GCodeBuffer::GetUIValue()
 }
 
 // Get an IP address quad after a key letter
-bool GCodeBuffer::GetIPAddress(IPAddress& returnedIp)
+void GCodeBuffer::GetIPAddress(IPAddress& returnedIp)
 {
-	return isBinaryBuffer ? binaryParser.GetIPAddress(returnedIp) : stringParser.GetIPAddress(returnedIp);
+	if (isBinaryBuffer)
+	{
+		binaryParser.GetIPAddress(returnedIp);
+	}
+	else
+	{
+		stringParser.GetIPAddress(returnedIp);
+	}
 }
 
 // Get a MAC address sextet after a key letter
-bool GCodeBuffer::GetMacAddress(uint8_t mac[6])
+void GCodeBuffer::GetMacAddress(uint8_t mac[6])
 {
-	return isBinaryBuffer ? binaryParser.GetMacAddress(mac) : stringParser.GetMacAddress(mac);
+	if (isBinaryBuffer)
+	{
+		binaryParser.GetMacAddress(mac);
+	}
+	else
+	{
+		stringParser.GetMacAddress(mac);
+	}
 }
 
 // Get a string with no preceding key letter
-bool GCodeBuffer::GetUnprecedentedString(const StringRef& str)
+void GCodeBuffer::GetUnprecedentedString(const StringRef& str, bool allowEmpty)
 {
-	return isBinaryBuffer ? binaryParser.GetUnprecedentedString(str) : stringParser.GetUnprecedentedString(str);
+	if (isBinaryBuffer)
+	{
+		binaryParser.GetUnprecedentedString(str, allowEmpty);
+	}
+	else
+	{
+		stringParser.GetUnprecedentedString(str, allowEmpty);
+	}
 }
 
 // Get and copy a quoted string
-bool GCodeBuffer::GetQuotedString(const StringRef& str)
+void GCodeBuffer::GetQuotedString(const StringRef& str)
 {
-	return isBinaryBuffer ? binaryParser.GetQuotedString(str) : stringParser.GetQuotedString(str);
+	if (isBinaryBuffer)
+	{
+		binaryParser.GetQuotedString(str);
+	}
+	else
+	{
+		stringParser.GetQuotedString(str);
+	}
 }
 
 // Get and copy a string which may or may not be quoted
-bool GCodeBuffer::GetPossiblyQuotedString(const StringRef& str)
+void GCodeBuffer::GetPossiblyQuotedString(const StringRef& str)
 {
-	return isBinaryBuffer ? binaryParser.GetPossiblyQuotedString(str) : stringParser.GetPossiblyQuotedString(str);
+	if (isBinaryBuffer)
+	{
+		binaryParser.GetPossiblyQuotedString(str);
+	}
+	else
+	{
+		stringParser.GetPossiblyQuotedString(str);
+	}
 }
 
-bool GCodeBuffer::GetReducedString(const StringRef& str)
+void GCodeBuffer::GetReducedString(const StringRef& str)
 {
-	return isBinaryBuffer ? binaryParser.GetReducedString(str) : stringParser.GetReducedString(str);
+	if (isBinaryBuffer)
+	{
+		binaryParser.GetReducedString(str);
+	}
+	else
+	{
+		stringParser.GetReducedString(str);
+	}
 }
 
 // Get a colon-separated list of floats after a key letter
@@ -388,9 +440,10 @@ bool GCodeBuffer::TryGetFloatArray(char c, size_t numVals, float vals[], const S
 // If we found it then set 'seen' true and return true, else leave 'seen' alone and return false
 bool GCodeBuffer::TryGetQuotedString(char c, const StringRef& str, bool& seen)
 {
-	if (Seen(c) && GetQuotedString(str))
+	if (Seen(c))
 	{
 		seen = true;
+		GetQuotedString(str);
 		return true;
 	}
 	return false;
@@ -400,9 +453,10 @@ bool GCodeBuffer::TryGetQuotedString(char c, const StringRef& str, bool& seen)
 // If we found it then set 'seen' true and return true, else leave 'seen' alone and return false
 bool GCodeBuffer::TryGetPossiblyQuotedString(char c, const StringRef& str, bool& seen)
 {
-	if (Seen(c) && GetPossiblyQuotedString(str))
+	if (Seen(c))
 	{
 		seen = true;
+		GetPossiblyQuotedString(str);
 		return true;
 	}
 	return false;
@@ -813,10 +867,4 @@ void GCodeBuffer::AppendFullCommand(const StringRef &s) const
 	}
 }
 
-// Report a program error
-void GCodeBuffer::ReportProgramError(const char *str)
-{
-	reprap.GetPlatform().MessageF(AddError(GetResponseMessageType()), "%s\n", str);
-}
-
 // End
diff --git a/src/GCodes/GCodeBuffer/GCodeBuffer.h b/src/GCodes/GCodeBuffer/GCodeBuffer.h
index 50aaa2fc..0e79c6bd 100644
--- a/src/GCodes/GCodeBuffer/GCodeBuffer.h
+++ b/src/GCodes/GCodeBuffer/GCodeBuffer.h
@@ -59,32 +59,34 @@ public:
 	int8_t GetCommandFraction() const;
 
 	bool Seen(char c) __attribute__((hot));					// Is a character present?
-	float GetFValue() __attribute__((hot));					// Get a float after a key letter
-	float GetDistance();									// Get a distance or coordinate and convert it from inches to mm if necessary
-	int32_t GetIValue() __attribute__((hot));				// Get an integer after a key letter
-	uint32_t GetUIValue();									// Get an unsigned integer value
-	bool GetIPAddress(IPAddress& returnedIp);				// Get an IP address quad after a key letter
-	bool GetMacAddress(uint8_t mac[6]);						// Get a MAC address sextet after a key letter
-	PwmFrequency GetPwmFrequency();							// Get a PWM frequency
-	float GetPwmValue();									// Get a PWM value
-	DriverId GetDriverId();									// Get a driver ID
-	bool GetUnprecedentedString(const StringRef& str);		// Get a string with no preceding key letter
-	bool GetQuotedString(const StringRef& str);				// Get and copy a quoted string
-	bool GetPossiblyQuotedString(const StringRef& str);		// Get and copy a string which may or may not be quoted
-	bool GetReducedString(const StringRef& str);			// Get and copy a quoted string, removing certain characters
-	void GetFloatArray(float arr[], size_t& length, bool doPad) __attribute__((hot)); // Get a colon-separated list of floats after a key letter
-	void GetIntArray(int32_t arr[], size_t& length, bool doPad);		// Get a :-separated list of ints after a key letter
-	void GetUnsignedArray(uint32_t arr[], size_t& length, bool doPad);	// Get a :-separated list of unsigned ints after a key letter
-	void GetDriverIdArray(DriverId arr[], size_t& length);	// Get a :-separated list of drivers after a key letter
-
-	bool TryGetFValue(char c, float& val, bool& seen);
-	bool TryGetIValue(char c, int32_t& val, bool& seen);
-	bool TryGetUIValue(char c, uint32_t& val, bool& seen);
-	bool TryGetBValue(char c, bool& val, bool& seen);
-	bool TryGetFloatArray(char c, size_t numVals, float vals[], const StringRef& reply, bool& seen, bool doPad = false);
-	bool TryGetUIArray(char c, size_t numVals, uint32_t vals[], const StringRef& reply, bool& seen, bool doPad = false);
-	bool TryGetQuotedString(char c, const StringRef& str, bool& seen);
-	bool TryGetPossiblyQuotedString(char c, const StringRef& str, bool& seen);
+	void MustSee(char c);									// Test for character present, throw error if not
+
+	float GetFValue() THROWS_PARSE_ERROR __attribute__((hot));					// Get a float after a key letter
+	float GetDistance() THROWS_PARSE_ERROR;										// Get a distance or coordinate and convert it from inches to mm if necessary
+	int32_t GetIValue() THROWS_PARSE_ERROR __attribute__((hot));				// Get an integer after a key letter
+	uint32_t GetUIValue() THROWS_PARSE_ERROR;									// Get an unsigned integer value
+	void GetIPAddress(IPAddress& returnedIp) THROWS_PARSE_ERROR;				// Get an IP address quad after a key letter
+	void GetMacAddress(uint8_t mac[6]) THROWS_PARSE_ERROR;						// Get a MAC address sextet after a key letter
+	PwmFrequency GetPwmFrequency() THROWS_PARSE_ERROR;							// Get a PWM frequency
+	float GetPwmValue() THROWS_PARSE_ERROR;										// Get a PWM value
+	DriverId GetDriverId() THROWS_PARSE_ERROR;									// Get a driver ID
+	void GetUnprecedentedString(const StringRef& str, bool allowEmpty = false) THROWS_PARSE_ERROR;	// Get a string with no preceding key letter
+	void GetQuotedString(const StringRef& str) THROWS_PARSE_ERROR;				// Get and copy a quoted string
+	void GetPossiblyQuotedString(const StringRef& str) THROWS_PARSE_ERROR;		// Get and copy a string which may or may not be quoted
+	void GetReducedString(const StringRef& str) THROWS_PARSE_ERROR;				// Get and copy a quoted string, removing certain characters
+	void GetFloatArray(float arr[], size_t& length, bool doPad) THROWS_PARSE_ERROR __attribute__((hot)); // Get a colon-separated list of floats after a key letter
+	void GetIntArray(int32_t arr[], size_t& length, bool doPad) THROWS_PARSE_ERROR;		// Get a :-separated list of ints after a key letter
+	void GetUnsignedArray(uint32_t arr[], size_t& length, bool doPad) THROWS_PARSE_ERROR;	// Get a :-separated list of unsigned ints after a key letter
+	void GetDriverIdArray(DriverId arr[], size_t& length) THROWS_PARSE_ERROR;	// Get a :-separated list of drivers after a key letter
+
+	bool TryGetFValue(char c, float& val, bool& seen) THROWS_PARSE_ERROR;
+	bool TryGetIValue(char c, int32_t& val, bool& seen) THROWS_PARSE_ERROR;
+	bool TryGetUIValue(char c, uint32_t& val, bool& seen) THROWS_PARSE_ERROR;
+	bool TryGetBValue(char c, bool& val, bool& seen) THROWS_PARSE_ERROR;
+	bool TryGetFloatArray(char c, size_t numVals, float vals[], const StringRef& reply, bool& seen, bool doPad = false) THROWS_PARSE_ERROR;
+	bool TryGetUIArray(char c, size_t numVals, uint32_t vals[], const StringRef& reply, bool& seen, bool doPad = false) THROWS_PARSE_ERROR;
+	bool TryGetQuotedString(char c, const StringRef& str, bool& seen) THROWS_PARSE_ERROR;
+	bool TryGetPossiblyQuotedString(char c, const StringRef& str, bool& seen) THROWS_PARSE_ERROR;
 
 	bool IsIdle() const;
 	bool IsCompletelyIdle() const;
@@ -169,8 +171,6 @@ public:
 	GCodeInput *GetNormalInput() const { return normalInput; }	//TEMPORARY!
 
 private:
-	void ReportProgramError(const char *str);
-
 	const GCodeChannel codeChannel;						// Channel number of this instance
 	GCodeInput *normalInput;							// Our normal input stream, or nullptr if there isn't one
 
diff --git a/src/GCodes/GCodeBuffer/ParseException.cpp b/src/GCodes/GCodeBuffer/ParseException.cpp
new file mode 100644
index 00000000..add55b55
--- /dev/null
+++ b/src/GCodes/GCodeBuffer/ParseException.cpp
@@ -0,0 +1,23 @@
+/*
+ * ParseException.cpp
+ *
+ *  Created on: 21 Dec 2019
+ *      Author: David
+ */
+
+#include "ParseException.h"
+
+#include <General/StringRef.h>
+
+void ParseException::GetMessage(const StringRef &reply) const
+{
+	reply.copy("Parsing error");
+	if (column >= 0)
+	{
+		reply.catf(" at column %d", column + 1);
+	}
+	reply.cat(": ");
+	reply.printf(message, param.u);
+}
+
+// End
diff --git a/src/GCodes/GCodeBuffer/ParseException.h b/src/GCodes/GCodeBuffer/ParseException.h
new file mode 100644
index 00000000..66939224
--- /dev/null
+++ b/src/GCodes/GCodeBuffer/ParseException.h
@@ -0,0 +1,48 @@
+/*
+ * ParseException.h
+ *
+ *  Created on: 21 Dec 2019
+ *      Author: David
+ */
+
+#ifndef SRC_GCODES_PARSEEXCEPTION_H_
+#define SRC_GCODES_PARSEEXCEPTION_H_
+
+#include <cstdint>
+
+class StringRef;
+
+class ParseException
+{
+public:
+	ParseException(int col, const char *msg) : column(col), message(msg)  { }
+
+	ParseException(int col, const char *msg, const char *sparam) : column(col), message(msg)
+	{
+		param.s = sparam;
+	}
+
+	ParseException(int col, const char *msg, uint32_t uparam) : column(col), message(msg)
+	{
+		param.u = uparam;
+	}
+
+	ParseException(unsigned int col, const char *msg, int32_t iparam) : column(col), message(msg)
+	{
+		param.i = iparam;
+	}
+
+	void GetMessage(const StringRef& reply) const;
+
+private:
+	int column;
+	const char *message;
+	union
+	{
+		int32_t i;
+		uint32_t u;
+		const char *s;
+	} param;
+};
+
+#endif /* SRC_GCODES_PARSEEXCEPTION_H_ */
diff --git a/src/GCodes/GCodeBuffer/StringParser.cpp b/src/GCodes/GCodeBuffer/StringParser.cpp
index ee05cc30..d8600322 100644
--- a/src/GCodes/GCodeBuffer/StringParser.cpp
+++ b/src/GCodes/GCodeBuffer/StringParser.cpp
@@ -19,14 +19,14 @@
 static constexpr char eofString[] = EOF_STRING;		// What's at the end of an HTML file?
 #endif
 
-StringParser::StringParser(GCodeBuffer& gcodeBuffer)
+StringParser::StringParser(GCodeBuffer& gcodeBuffer) noexcept
 	: gb(gcodeBuffer), fileBeingWritten(nullptr), writingFileSize(0), eofStringCounter(0), indentToSkipTo(NoIndentSkip),
 	  hasCommandNumber(false), commandLetter('Q'), checksumRequired(false), binaryWriting(false)
 {
 	Init();
 }
 
-void StringParser::Init()
+void StringParser::Init() noexcept
 {
 	gcodeLineEnd = 0;
 	commandLength = 0;
@@ -37,7 +37,7 @@ void StringParser::Init()
 	commandIndent = 0;
 }
 
-inline void StringParser::AddToChecksum(char c)
+inline void StringParser::AddToChecksum(char c) noexcept
 {
 	computedChecksum ^= (uint8_t)c;
 }
@@ -410,8 +410,7 @@ void StringParser::ProcessElseCommand(bool skippedIfFalse)
 	}
 	else
 	{
-		gb.ReportProgramError("'else' did not follow 'if");
-		indentToSkipTo = gb.machineState->indentLevel;					// skip forwards to the end of the block
+		throw ConstructParseException("'else' did not follow 'if");
 	}
 }
 
@@ -433,7 +432,7 @@ void StringParser::ProcessBreakCommand()
 	{
 		if (gb.machineState->indentLevel == 0)
 		{
-			gb.ReportProgramError("'break' was not inside a loop");
+			throw ConstructParseException("'break' was not inside a loop");
 			return;
 		}
 		gb.machineState->EndBlock();
@@ -443,15 +442,13 @@ void StringParser::ProcessBreakCommand()
 
 void StringParser::ProcessVarCommand()
 {
-	gb.ReportProgramError("'var' not implemented yet");
+	throw ConstructParseException("'var' not implemented yet");
 }
 
 // Evaluate the condition that should follow 'if' or 'while'
-// If we fail, report an error and return false
 bool StringParser::EvaluateCondition(const char* keyword)
 {
-	reprap.GetPlatform().MessageF(AddError(gb.GetResponseMessageType()), "Failed to evaluate condition after '%s'\n", keyword);
-	return false;
+	throw ConstructParseException("Failed to evaluate condition after '%s'", keyword);
 }
 
 // Decode this command and find the start of the next one on the same line.
@@ -587,7 +584,7 @@ void StringParser::SetFinished()
 }
 
 // Get the file position at the start of the current command
-FilePosition StringParser::GetFilePosition() const
+FilePosition StringParser::GetFilePosition() const noexcept
 {
 #if HAS_MASS_STORAGE
 	if (gb.machineState->DoingFile())
@@ -598,19 +595,19 @@ FilePosition StringParser::GetFilePosition() const
 	return noFilePosition;
 }
 
-const char* StringParser::DataStart() const
+const char* StringParser::DataStart() const noexcept
 {
 	return gb.buffer + commandStart;
 }
 
-size_t StringParser::DataLength() const
+size_t StringParser::DataLength() const noexcept
 {
 	return commandEnd - commandStart;
 }
 
 // Is 'c' in the G Code string? 'c' must be uppercase.
-// Leave the pointer there for a subsequent read.
-bool StringParser::Seen(char c)
+// Leave the pointer one after it for a subsequent read.
+bool StringParser::Seen(char c) noexcept
 {
 	bool inQuotes = false;
 	unsigned int inBrackets = 0;
@@ -625,13 +622,14 @@ bool StringParser::Seen(char c)
 		{
 			if (inBrackets == 0 && toupper(b) == c && (c != 'E' || (unsigned int)readPointer == parameterStart || !isdigit(gb.buffer[readPointer - 1])))
 			{
+				++readPointer;
 				return true;
 			}
-			if (b == '[')
+			if (b == '{')
 			{
 				++inBrackets;
 			}
-			else if (b == ']' && inBrackets != 0)
+			else if (b == '}' && inBrackets != 0)
 			{
 				--inBrackets;
 			}
@@ -644,42 +642,35 @@ bool StringParser::Seen(char c)
 // Get a float after a G Code letter found by a call to Seen()
 float StringParser::GetFValue()
 {
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
-		const float result = ReadFloatValue(&gb.buffer[readPointer + 1], nullptr);
+		const float result = ReadFloatValue();
 		readPointer = -1;
 		return result;
 	}
 
-	INTERNAL_ERROR;
-	return 0.0;
+	THROW_INTERNAL_ERROR;
 }
 
 // Get a colon-separated list of floats after a key letter
 // If doPad is true then we allow just one element to be given, in which case we fill all elements with that value
 void StringParser::GetFloatArray(float arr[], size_t& returnedLength, bool doPad)
 {
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
 		size_t length = 0;
-		const char *p = gb.buffer + readPointer + 1;
 		for (;;)
 		{
 			if (length >= returnedLength)		// array limit has been set in here
 			{
-				reprap.GetPlatform().MessageF(ErrorMessage, "GCodes: Attempt to read a GCode float array that is too long: %s\n", gb.buffer);
-				readPointer = -1;
-				returnedLength = 0;
-				return;
+				throw ConstructParseException("array too long, max length = %u", (uint32_t)returnedLength);
 			}
-			const char *q;
-			arr[length] = ReadFloatValue(p, &q);
-			length++;
-			if (*q != LIST_SEPARATOR)
+			arr[length++] = ReadFloatValue();
+			if (gb.buffer[readPointer] != LIST_SEPARATOR)
 			{
 				break;
 			}
-			p = q + 1;
+			++readPointer;
 		}
 
 		// Special case if there is one entry and returnedLength requests several. Fill the array with the first entry.
@@ -699,35 +690,29 @@ void StringParser::GetFloatArray(float arr[], size_t& returnedLength, bool doPad
 	}
 	else
 	{
-		INTERNAL_ERROR;
-		returnedLength = 0;
+		THROW_INTERNAL_ERROR;
 	}
 }
 
 // Get a :-separated list of ints after a key letter
 void StringParser::GetIntArray(int32_t arr[], size_t& returnedLength, bool doPad)
 {
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
 		size_t length = 0;
-		const char *p = gb.buffer + readPointer + 1;
 		for (;;)
 		{
 			if (length >= returnedLength) // Array limit has been set in here
 			{
-				reprap.GetPlatform().MessageF(ErrorMessage, "GCodes: Attempt to read a GCode int array that is too long: %s\n", gb.buffer);
-				readPointer = -1;
-				returnedLength = 0;
-				return;
+				throw ConstructParseException("array too long, max length = %u", (uint32_t)returnedLength);
 			}
-			const char *q;
-			arr[length] = ReadIValue(p, &q);
+			arr[length] = ReadIValue();
 			length++;
-			if (*q != LIST_SEPARATOR)
+			if (gb.buffer[readPointer] != LIST_SEPARATOR)
 			{
 				break;
 			}
-			p = q + 1;
+			++readPointer;
 		}
 
 		// Special case if there is one entry and returnedLength requests several. Fill the array with the first entry.
@@ -746,35 +731,29 @@ void StringParser::GetIntArray(int32_t arr[], size_t& returnedLength, bool doPad
 	}
 	else
 	{
-		INTERNAL_ERROR;
-		returnedLength = 0;
+		THROW_INTERNAL_ERROR;
 	}
 }
 
 // Get a :-separated list of unsigned ints after a key letter
 void StringParser::GetUnsignedArray(uint32_t arr[], size_t& returnedLength, bool doPad)
 {
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
 		size_t length = 0;
-		const char *p = gb.buffer + readPointer + 1;
 		for (;;)
 		{
 			if (length >= returnedLength) // Array limit has been set in here
 			{
-				reprap.GetPlatform().MessageF(ErrorMessage, "GCodes: Attempt to read a GCode unsigned array that is too long: %s\n", gb.buffer);
-				readPointer = -1;
-				returnedLength = 0;
-				return;
+				throw ConstructParseException("array too long, max length = %u", (uint32_t)returnedLength);
 			}
-			const char *q;
-			arr[length] = ReadUIValue(p, &q);
+			arr[length] = ReadUIValue();
 			length++;
-			if (*q != LIST_SEPARATOR)
+			if (gb.buffer[readPointer] != LIST_SEPARATOR)
 			{
 				break;
 			}
-			p = q + 1;
+			++readPointer;
 		}
 
 		// Special case if there is one entry and returnedLength requests several. Fill the array with the first entry.
@@ -794,35 +773,29 @@ void StringParser::GetUnsignedArray(uint32_t arr[], size_t& returnedLength, bool
 	}
 	else
 	{
-		INTERNAL_ERROR;
-		returnedLength = 0;
+		THROW_INTERNAL_ERROR;
 	}
 }
 
 // Get a :-separated list of drivers after a key letter
 void StringParser::GetDriverIdArray(DriverId arr[], size_t& returnedLength)
 {
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
 		size_t length = 0;
-		const char *p = gb.buffer + readPointer + 1;
 		for (;;)
 		{
 			if (length >= returnedLength) // Array limit has been set in here
 			{
-				reprap.GetPlatform().MessageF(ErrorMessage, "GCodes: Attempt to read a GCode driverID array that is too long: %s\n", gb.buffer);
-				readPointer = -1;
-				returnedLength = 0;
-				return;
+				throw ConstructParseException("array too long, max length = %u", (uint32_t)returnedLength);
 			}
-			const char *q;
-			arr[length] = ReadDriverIdValue(p, &q);
+			arr[length] = ReadDriverIdValue();
 			length++;
-			if (*q != LIST_SEPARATOR)
+			if (gb.buffer[readPointer] != LIST_SEPARATOR)
 			{
 				break;
 			}
-			p = q + 1;
+			++readPointer;
 		}
 
 		returnedLength = length;
@@ -830,39 +803,36 @@ void StringParser::GetDriverIdArray(DriverId arr[], size_t& returnedLength)
 	}
 	else
 	{
-		INTERNAL_ERROR;
-		returnedLength = 0;
+		THROW_INTERNAL_ERROR;
 	}
 }
 
 // Get and copy a quoted string returning true if successful
-bool StringParser::GetQuotedString(const StringRef& str)
+void StringParser::GetQuotedString(const StringRef& str)
 {
 	str.Clear();
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
-		++readPointer;				// skip the character that introduced the string
 		switch (gb.buffer[readPointer])
 		{
 		case '"':
-			return InternalGetQuotedString(str);
+			InternalGetQuotedString(str);
+			return;
 
-#if SUPPORT_OBJECT_MODEL
-		case '[':
-			return GetStringExpression(str);
-#endif
+		case '{':
+			GetStringExpression(str);
+			return;
 
 		default:
-			return false;
+			throw ConstructParseException("expected string expression");
 		}
 	}
 
-	INTERNAL_ERROR;
-	return false;
+	THROW_INTERNAL_ERROR;
 }
 
 // Given that the current character is double-quote, fetch the quoted string
-bool StringParser::InternalGetQuotedString(const StringRef& str)
+void StringParser::InternalGetQuotedString(const StringRef& str)
 {
 	str.Clear();
 	++readPointer;
@@ -871,13 +841,13 @@ bool StringParser::InternalGetQuotedString(const StringRef& str)
 		char c = gb.buffer[readPointer++];
 		if (c < ' ')
 		{
-			return false;
+			throw ConstructParseException("control character in string");
 		}
 		if (c == '"')
 		{
 			if (gb.buffer[readPointer++] != '"')
 			{
-				return true;
+				return;
 			}
 		}
 		else if (c == '\'')
@@ -895,38 +865,32 @@ bool StringParser::InternalGetQuotedString(const StringRef& str)
 		}
 		str.cat(c);
 	}
-	return false;
 }
 
 // Get and copy a string which may or may not be quoted. If it is not quoted, it ends at the first space or control character.
-// Return true if successful.
-bool StringParser::GetPossiblyQuotedString(const StringRef& str)
+void StringParser::GetPossiblyQuotedString(const StringRef& str)
 {
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
-		++readPointer;
-		return InternalGetPossiblyQuotedString(str);
+		InternalGetPossiblyQuotedString(str, false);
 	}
 
-	INTERNAL_ERROR;
-	return false;
+	THROW_INTERNAL_ERROR;
 }
 
 // Get and copy a string which may or may not be quoted, starting at readPointer. Return true if successful.
-bool StringParser::InternalGetPossiblyQuotedString(const StringRef& str)
+void StringParser::InternalGetPossiblyQuotedString(const StringRef& str, bool allowEmpty)
 {
 	str.Clear();
 	if (gb.buffer[readPointer] == '"')
 	{
-		return InternalGetQuotedString(str);
+		InternalGetQuotedString(str);
 	}
 
-#if SUPPORT_OBJECT_MODEL
-	if (gb.buffer[readPointer] == '[')
+	if (gb.buffer[readPointer] == '{')
 	{
-		return GetStringExpression(str);
+		GetStringExpression(str);
 	}
-#endif
 
 	commandEnd = gcodeLineEnd;				// the string is the remainder of the line of gcode
 	for (;;)
@@ -939,19 +903,21 @@ bool StringParser::InternalGetPossiblyQuotedString(const StringRef& str)
 		str.cat(c);
 	}
 	str.StripTrailingSpaces();
-	return !str.IsEmpty();
+	if (!allowEmpty && str.IsEmpty())
+	{
+		throw ConstructParseException("non-empty string expected");
+	}
 }
 
-bool StringParser::GetReducedString(const StringRef& str)
+void StringParser::GetReducedString(const StringRef& str)
 {
 	str.Clear();
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
 		// Reduced strings must start with a double-quote
-		++readPointer;
 		if (gb.buffer[readPointer] != '"')
 		{
-			return false;
+			throw ConstructParseException("string expected");
 		}
 
 		++readPointer;
@@ -963,7 +929,7 @@ bool StringParser::GetReducedString(const StringRef& str)
 			case '"':
 				if (gb.buffer[readPointer++] != '"')
 				{
-					return true;
+					return;
 				}
 				str.cat(c);
 				break;
@@ -976,7 +942,7 @@ bool StringParser::GetReducedString(const StringRef& str)
 			default:
 				if (c < ' ')
 				{
-					return false;
+					throw ConstructParseException("control characer in string");
 				}
 				str.cat(tolower(c));
 				break;
@@ -984,8 +950,7 @@ bool StringParser::GetReducedString(const StringRef& str)
 		}
 	}
 
-	INTERNAL_ERROR;
-	return false;
+	THROW_INTERNAL_ERROR;
 }
 
 // This returns a string comprising the rest of the line, excluding any comment
@@ -993,7 +958,7 @@ bool StringParser::GetReducedString(const StringRef& str)
 // command that sets the name of a file to be printed.  In
 // preference use GetString() which requires the string to have
 // been preceded by a tag letter.
-bool StringParser::GetUnprecedentedString(const StringRef& str)
+void StringParser::GetUnprecedentedString(const StringRef& str, bool allowEmpty)
 {
 	readPointer = parameterStart;
 	char c;
@@ -1001,63 +966,58 @@ bool StringParser::GetUnprecedentedString(const StringRef& str)
 	{
 		++readPointer;	// skip leading spaces
 	}
-	return InternalGetPossiblyQuotedString(str);
+	InternalGetPossiblyQuotedString(str, allowEmpty);
 }
 
 // Get an int32 after a G Code letter
 int32_t StringParser::GetIValue()
 {
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
-		const int32_t result = ReadIValue(&gb.buffer[readPointer + 1], nullptr);
+		const int32_t result = ReadIValue();
 		readPointer = -1;
 		return result;
 	}
 
-	INTERNAL_ERROR;
-	return 0;
+	THROW_INTERNAL_ERROR;
 }
 
 // Get an uint32 after a G Code letter
 uint32_t StringParser::GetUIValue()
 {
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
-		const uint32_t result = ReadUIValue(&gb.buffer[readPointer + 1], nullptr);
+		const uint32_t result = ReadUIValue();
 		readPointer = -1;
 		return result;
 	}
 
-	INTERNAL_ERROR;
-	return 0;
+	THROW_INTERNAL_ERROR;
 }
 
 // Get a driver ID
 DriverId StringParser::GetDriverId()
 {
 	DriverId result;
-	if (readPointer >= 0)
+	if (readPointer > 0)
 	{
-		result = ReadDriverIdValue(&gb.buffer[readPointer + 1], nullptr);
+		result = ReadDriverIdValue();
 		readPointer = -1;
 		return result;
 	}
 
-	INTERNAL_ERROR;
-	result.SetLocal(0);
-	return result;
+	THROW_INTERNAL_ERROR;
 }
 
 // Get an IP address quad after a key letter
-bool StringParser::GetIPAddress(IPAddress& returnedIp)
+void StringParser::GetIPAddress(IPAddress& returnedIp)
 {
-	if (readPointer < 0)
+	if (readPointer <= 0)
 	{
-		INTERNAL_ERROR;
-		return false;
+		THROW_INTERNAL_ERROR;
 	}
 
-	const char* p = &gb.buffer[readPointer + 1];
+	const char* p = gb.buffer + readPointer;
 	uint8_t ip[4];
 	unsigned int n = 0;
 	for (;;)
@@ -1067,7 +1027,7 @@ bool StringParser::GetIPAddress(IPAddress& returnedIp)
 		if (pp == p || v > 255)
 		{
 			readPointer = -1;
-			return false;
+			throw ConstructParseException("invalid IP address");
 		}
 		ip[n] = (uint8_t)v;
 		++n;
@@ -1079,30 +1039,27 @@ bool StringParser::GetIPAddress(IPAddress& returnedIp)
 		if (n == 4)
 		{
 			readPointer = -1;
-			return false;
+			throw ConstructParseException("invalid IP address");
 		}
 		++p;
 	}
 	readPointer = -1;
-	if (n == 4)
+	if (n != 4)
 	{
-		returnedIp.SetV4(ip);
-		return true;
+		throw ConstructParseException("invalid IP address");
 	}
-	returnedIp.SetNull();
-	return false;
+	returnedIp.SetV4(ip);
 }
 
 // Get a MAX address sextet after a key letter
-bool StringParser::GetMacAddress(uint8_t mac[6])
+void StringParser::GetMacAddress(uint8_t mac[6])
 {
-	if (readPointer < 0)
+	if (readPointer <= 0)
 	{
-		INTERNAL_ERROR;
-		return false;
+		THROW_INTERNAL_ERROR;
 	}
 
-	const char* p = gb.buffer + readPointer + 1;
+	const char* p = gb.buffer + readPointer;
 	unsigned int n = 0;
 	for (;;)
 	{
@@ -1111,7 +1068,7 @@ bool StringParser::GetMacAddress(uint8_t mac[6])
 		if (pp == p || v > 255)
 		{
 			readPointer = -1;
-			return false;
+			throw ConstructParseException("invalid MAC address");
 		}
 		mac[n] = (uint8_t)v;
 		++n;
@@ -1123,16 +1080,19 @@ bool StringParser::GetMacAddress(uint8_t mac[6])
 		if (n == 6)
 		{
 			readPointer = -1;
-			return false;
+			throw ConstructParseException("invalid MAC address");
 		}
 		++p;
 	}
 	readPointer = -1;
-	return n == 6;
+	if (n != 6)
+	{
+		throw ConstructParseException("invalid MAC address");
+	}
 }
 
 // Write the command to a string
-void StringParser::PrintCommand(const StringRef& s) const
+void StringParser::PrintCommand(const StringRef& s) const noexcept
 {
 	s.printf("%c%d", commandLetter, commandNumber);
 	if (commandFraction >= 0)
@@ -1142,7 +1102,7 @@ void StringParser::PrintCommand(const StringRef& s) const
 }
 
 // Append the full command content to a string
-void StringParser::AppendFullCommand(const StringRef &s) const
+void StringParser::AppendFullCommand(const StringRef &s) const noexcept
 {
 	s.cat(gb.buffer);
 }
@@ -1285,13 +1245,14 @@ void StringParser::FileEnded()
 #endif
 
 // Functions to read values from lines of GCode, allowing for expressions and variable substitution
-float StringParser::ReadFloatValue(const char *p, const char **endptr)
+float StringParser::ReadFloatValue()
 {
-#if SUPPORT_OBJECT_MODEL
-	if (*p == '{')
+	++readPointer;
+	if (gb.buffer[readPointer] == '{')
 	{
-		ExpressionValue val;
-		switch (EvaluateExpression(p, endptr, val))
+		++readPointer;
+		const ExpressionValue val = EvaluateExpression();
+		switch (val.type)
 		{
 		case TYPE_OF(float):
 			return val.fVal;
@@ -1303,22 +1264,19 @@ float StringParser::ReadFloatValue(const char *p, const char **endptr)
 			return (float)val.uVal;
 
 		default:
-			//TODO report error
-			return 1.0;
+			throw ConstructParseException("expected float value");
 		}
 	}
-#endif
 
-	return SafeStrtof(p, endptr);
+	return SafeStrtof(gb.buffer + readPointer, nullptr);
 }
 
-uint32_t StringParser::ReadUIValue(const char *p, const char **endptr)
+uint32_t StringParser::ReadUIValue()
 {
-#if SUPPORT_OBJECT_MODEL
-	if (*p == '{')
+	if (gb.buffer[readPointer] == '{')
 	{
-		ExpressionValue val;
-		switch (EvaluateExpression(p, endptr, val))
+		const ExpressionValue val = EvaluateExpression();
+		switch (val.type)
 		{
 		case TYPE_OF(uint32_t):
 			return val.uVal;
@@ -1328,37 +1286,34 @@ uint32_t StringParser::ReadUIValue(const char *p, const char **endptr)
 			{
 				return (uint32_t)val.iVal;
 			}
-			//TODO report error
-			return 0;
+			throw ConstructParseException("value must be non-negative");
 
 		default:
-			//TODO report error
-			return 0;
+			throw ConstructParseException("expected non-negative integer value");
 		}
 	}
-#endif
 
 	int base = 10;
 	size_t skipTrailingQuote = 0;
 
 	// Allow "0xNNNN" or "xNNNN" where NNNN are hex digits
-	if (*p == '"')
+	if (gb.buffer[readPointer] == '"')
 	{
-		++p;
+		++readPointer;
 		skipTrailingQuote = 1;
-		switch (*p)
+		switch (gb.buffer[readPointer])
 		{
 		case 'x':
 		case 'X':
 			base = 16;
-			++p;
+			++readPointer;
 			break;
 
 		case '0':
-			if (*(p + 1) == 'x' || *(p + 1) == 'X')
+			if (gb.buffer[readPointer + 1] == 'x' || gb.buffer[readPointer + 1] == 'X')
 			{
 				base = 16;
-				p += 2;
+				readPointer += 2;
 			}
 			break;
 
@@ -1366,18 +1321,19 @@ uint32_t StringParser::ReadUIValue(const char *p, const char **endptr)
 			break;
 		}
 	}
-	const uint32_t result = SafeStrtoul(p, endptr, base);
-	endptr += skipTrailingQuote;
+
+	const char *endptr;
+	const uint32_t result = SafeStrtoul(gb.buffer + readPointer, &endptr, base);
+	readPointer = endptr - gb.buffer + skipTrailingQuote;
 	return result;
 }
 
-int32_t StringParser::ReadIValue(const char *p, const char **endptr)
+int32_t StringParser::ReadIValue()
 {
-#if SUPPORT_OBJECT_MODEL
-	if (*p == '{')
+	if (gb.buffer[readPointer] == '{')
 	{
-		ExpressionValue val;
-		switch (EvaluateExpression(p, endptr, val))
+		ExpressionValue val = EvaluateExpression();
+		switch (val.type)
 		{
 		case TYPE_OF(int32_t):
 			return val.iVal;
@@ -1386,24 +1342,25 @@ int32_t StringParser::ReadIValue(const char *p, const char **endptr)
 			return (int32_t)val.uVal;
 
 		default:
-			//TODO report error
-			return 0;
+			throw ConstructParseException("expected integer value");
 		}
 	}
-#endif
 
-	return SafeStrtol(p, endptr);
+	const char *endptr;
+	const int32_t val = SafeStrtol(gb.buffer + readPointer, &endptr);
+	readPointer = endptr - gb.buffer;
+	return val;
 }
 
-DriverId StringParser::ReadDriverIdValue(const char *p, const char **endptr)
+DriverId StringParser::ReadDriverIdValue()
 {
 	DriverId result;
-	const char *endp;
-	const uint32_t v1 = ReadUIValue(p, &endp);
+	const uint32_t v1 = ReadUIValue();
 #if SUPPORT_CAN_EXPANSION
-	if (*endp == '.')
+	if (gb.buffer[readPointer] == '.')
 	{
-		const uint32_t v2 = ReadUIValue(endp + 1, &endp);
+		++readPointer;
+		const uint32_t v2 = ReadUIValue();
 		result.localDriver = v2;
 		result.boardAddress = v1;
 	}
@@ -1415,20 +1372,14 @@ DriverId StringParser::ReadDriverIdValue(const char *p, const char **endptr)
 #else
 	result.localDriver = v1;
 #endif
-	if (endptr != nullptr)
-	{
-		*endptr = endp;
-	}
 	return result;
 }
 
-#if SUPPORT_OBJECT_MODEL
-
-// Get a string expression. The current character is '['.
-bool StringParser::GetStringExpression(const StringRef& str)
+// Get a string expression. The current character is '{'.
+void StringParser::GetStringExpression(const StringRef& str)
 {
-	ExpressionValue val;
-	switch (EvaluateExpression(gb.buffer + readPointer, nullptr, val))
+	const ExpressionValue val = EvaluateExpression();
+	switch (val.type)
 	{
 	case TYPE_OF(const char*):
 		str.copy(val.sVal);
@@ -1463,55 +1414,161 @@ bool StringParser::GetStringExpression(const StringRef& str)
 		break;
 
 	default:
-		//TODO report error
-		return false;
+		throw ConstructParseException("string value expected");
 	}
-
-	return true;
 }
 
 // Evaluate an expression. the current character is '{'.
-TypeCode StringParser::EvaluateExpression(const char *p, const char **endptr, ExpressionValue& rslt)
+ExpressionValue StringParser::EvaluateExpression()
 {
-	++p;						// skip the '{'
+	++readPointer;						// skip the '{'
 	// For now the only form of expression we handle is {variable-name}
-	if (isalpha(*p))			// if it's a variable name
+	if (isalpha(gb.buffer[readPointer]))			// if it's a variable name
 	{
-		const char * const start = p;
+		unsigned int start = readPointer;
 		unsigned int numBrackets = 0;
-		while (isalpha(*p) || isdigit(*p) || *p == '_' || *p == '.' || *p == '[' || (*p == ']' && numBrackets != 0))
+		char c;
+		while (isalpha((c = gb.buffer[readPointer])) || isdigit(c) || c == '_' || c == '.' || c == '(' || (c == ')' && numBrackets != 0))
 		{
-			if (*p == '[')
+			if (c == '(')
 			{
 				++numBrackets;
 			}
-			else if (*p == ']')
+			else if (c == ')')
 			{
 				--numBrackets;
 			}
-			++p;
+			++readPointer;
 		}
 		String<MaxVariableNameLength> varName;
-		if (varName.copy(start, p - start))
+		if (varName.copy(gb.buffer + start, readPointer - start))
 		{
-			// variable name is too long
-			//TODO error handling
-			return NoType;
+			throw ConstructParseException("variable name too long");;
 		}
 		//TODO consider supporting standard CNC functions here
-		const TypeCode tc = reprap.GetObjectValue(rslt, varName.c_str());
-		if (tc != NoType && (tc & IsArray) == 0 && *p == '}')
+		const ExpressionValue val = reprap.GetObjectValue(*this, varName.c_str());
+		if (c != '}')
+		{
+			throw ConstructParseException("expected '}'");
+		}
+		++readPointer;
+		return val;
+	}
+
+	throw ConstructParseException("expected variable name");
+}
+
+// Parse a number. the initial character of the string is a decimal digit.
+ExpressionValue StringParser::ParseNumber()
+{
+	// 2. Read digits before decimal point, E or e
+	unsigned long valueBeforePoint = 0;
+	char c;
+	while (isdigit((c = gb.buffer[readPointer])))
+	{
+		const unsigned int digit = c - '0';
+		if (valueBeforePoint > ULONG_MAX/10 || (valueBeforePoint *= 10, valueBeforePoint > ULONG_MAX - digit))
+		{
+			throw ConstructParseException("too many digits");
+		}
+		valueBeforePoint += digit;
+		++readPointer;
+	}
+
+	// 3. Check for decimal point before E or e
+	unsigned long valueAfterPoint = 0;
+	long digitsAfterPoint = 0;
+	bool isFloat = (c == '.');
+	if (isFloat)
+	{
+		++readPointer;
+
+		// 3b. Read the digits (if any) after the decimal point
+		while (isdigit((c = gb.buffer[readPointer])))
 		{
-			if (endptr != nullptr)
+			const unsigned int digit = c - '0';
+			if (valueAfterPoint > ULONG_MAX/10 || (valueAfterPoint *= 10, valueAfterPoint > ULONG_MAX - digit))
 			{
-				*endptr = p + 1;
+				throw ConstructParseException("too many decimal digits");
 			}
-			return tc;
+			valueAfterPoint += digit;
+			++digitsAfterPoint;
+			++readPointer;
+		}
+	}
+
+	// 5. Check for exponent part
+	long exponent = 0;
+	if (toupper(c) == 'E')
+	{
+		isFloat = true;
+		++readPointer;
+		c = gb.buffer[readPointer];
+
+		// 5a. Check for signed exponent
+		const bool expNegative = (c == '-');
+		if (expNegative || c == '+')
+		{
+			++readPointer;
+		}
+
+		// 5b. Read exponent digits
+		while (isdigit((c = gb.buffer[readPointer])))
+		{
+			exponent = (10 * exponent) + (c - '0');	// could overflow, but anyone using such large numbers is being very silly
+			++readPointer;
+		}
+
+		if (expNegative)
+		{
+			exponent = -exponent;
 		}
 	}
-	return NoType;
+
+	// 6. Compute the composite value
+	ExpressionValue retvalue;
+
+	if (isFloat)
+	{
+		retvalue.type = TypeOf<float>();
+		if (valueAfterPoint != 0)
+		{
+			if (valueBeforePoint == 0)
+			{
+				retvalue.fVal = (float)((double)valueAfterPoint * pow(10, exponent - digitsAfterPoint));
+			}
+			else
+			{
+				retvalue.fVal = (float)(((double)valueAfterPoint/pow(10, digitsAfterPoint) + valueBeforePoint) * pow(10, exponent));
+			}
+		}
+		else
+		{
+			retvalue.fVal = (float)(valueBeforePoint * pow(10, exponent));
+		}
+	}
+	else
+	{
+		retvalue.type = TypeOf<uint32_t>();
+		retvalue.uVal = valueBeforePoint;
+	}
+
+	return retvalue;
 }
 
-#endif
+ParseException StringParser::ConstructParseException(const char *str) const
+{
+	return ParseException(readPointer, str);
+}
+
+ParseException StringParser::ConstructParseException(const char *str, const char *param) const
+{
+	return ParseException(readPointer, str, param);
+}
+
+ParseException StringParser::ConstructParseException(const char *str, uint32_t param) const
+{
+	return ParseException(readPointer, str, param);
+}
 
 // End
diff --git a/src/GCodes/GCodeBuffer/StringParser.h b/src/GCodes/GCodeBuffer/StringParser.h
index 815b4d47..e0d10117 100644
--- a/src/GCodes/GCodeBuffer/StringParser.h
+++ b/src/GCodes/GCodeBuffer/StringParser.h
@@ -12,6 +12,7 @@
 #include "GCodes/GCodeInput.h"
 #include "MessageType.h"
 #include "ObjectModel/ObjectModel.h"
+#include "ParseException.h"
 
 class GCodeBuffer;
 class IPAddress;
@@ -19,35 +20,35 @@ class IPAddress;
 class StringParser
 {
 public:
-	StringParser(GCodeBuffer& gcodeBuffer);
-	void Init(); 										// Set it up to parse another G-code
-	void Diagnostics(MessageType mtype);				// Write some debug info
+	StringParser(GCodeBuffer& gcodeBuffer) noexcept;
+	void Init() noexcept; 								// Set it up to parse another G-code
+	void Diagnostics(MessageType mtype) noexcept;		// Write some debug info
 	bool Put(char c) __attribute__((hot));				// Add a character to the end
 	void Put(const char *str, size_t len);				// Add an entire string, overwriting any existing content
 	void Put(const char *str);							// Add a null-terminated string, overwriting any existing content
 	void FileEnded();									// Called when we reach the end of the file we are reading from
-	bool Seen(char c) __attribute__((hot));				// Is a character present?
-
-	char GetCommandLetter() const { return commandLetter; }
-	bool HasCommandNumber() const { return hasCommandNumber; }
-	int GetCommandNumber() const { return commandNumber; }
-	int8_t GetCommandFraction() const { return commandFraction; }
-
-	float GetFValue() __attribute__((hot));				// Get a float after a key letter
-	float GetDistance();								// Get a distance or coordinate and convert it from inches to mm if necessary
-	int32_t GetIValue() __attribute__((hot));			// Get an integer after a key letter
-	uint32_t GetUIValue();								// Get an unsigned integer value
-	DriverId GetDriverId();								// Get a driver ID
-	bool GetIPAddress(IPAddress& returnedIp);			// Get an IP address quad after a key letter
-	bool GetMacAddress(uint8_t mac[6]);					// Get a MAC address sextet after a key letter
-	bool GetUnprecedentedString(const StringRef& str);	// Get a string with no preceding key letter
-	bool GetQuotedString(const StringRef& str);			// Get and copy a quoted string
-	bool GetPossiblyQuotedString(const StringRef& str);	// Get and copy a string which may or may not be quoted
-	bool GetReducedString(const StringRef& str);		// Get and copy a quoted string, removing certain characters
-	void GetFloatArray(float arr[], size_t& length, bool doPad) __attribute__((hot)); // Get a colon-separated list of floats after a key letter
-	void GetIntArray(int32_t arr[], size_t& length, bool doPad);		// Get a :-separated list of ints after a key letter
-	void GetUnsignedArray(uint32_t arr[], size_t& length, bool doPad);	// Get a :-separated list of unsigned ints after a key letter
-	void GetDriverIdArray(DriverId arr[], size_t& length);	// Get a :-separated list of drivers after a key letter
+	bool Seen(char c) noexcept __attribute__((hot));	// Is a character present?
+
+	char GetCommandLetter() const noexcept { return commandLetter; }
+	bool HasCommandNumber() const noexcept { return hasCommandNumber; }
+	int GetCommandNumber() const noexcept { return commandNumber; }
+	int8_t GetCommandFraction() const noexcept { return commandFraction; }
+
+	float GetFValue() THROWS_PARSE_ERROR __attribute__((hot));				// Get a float after a key letter
+	float GetDistance() THROWS_PARSE_ERROR;									// Get a distance or coordinate and convert it from inches to mm if necessary
+	int32_t GetIValue() THROWS_PARSE_ERROR __attribute__((hot));			// Get an integer after a key letter
+	uint32_t GetUIValue() THROWS_PARSE_ERROR;								// Get an unsigned integer value
+	DriverId GetDriverId() THROWS_PARSE_ERROR;								// Get a driver ID
+	void GetIPAddress(IPAddress& returnedIp) THROWS_PARSE_ERROR;			// Get an IP address quad after a key letter
+	void GetMacAddress(uint8_t mac[6]) THROWS_PARSE_ERROR;					// Get a MAC address sextet after a key letter
+	void GetUnprecedentedString(const StringRef& str, bool allowEmpty) THROWS_PARSE_ERROR;	// Get a string with no preceding key letter
+	void GetQuotedString(const StringRef& str) THROWS_PARSE_ERROR;			// Get and copy a quoted string
+	void GetPossiblyQuotedString(const StringRef& str) THROWS_PARSE_ERROR;	// Get and copy a string which may or may not be quoted
+	void GetReducedString(const StringRef& str) THROWS_PARSE_ERROR;			// Get and copy a quoted string, removing certain characters
+	void GetFloatArray(float arr[], size_t& length, bool doPad) THROWS_PARSE_ERROR __attribute__((hot)); // Get a colon-separated list of floats after a key letter
+	void GetIntArray(int32_t arr[], size_t& length, bool doPad) THROWS_PARSE_ERROR;		// Get a :-separated list of ints after a key letter
+	void GetUnsignedArray(uint32_t arr[], size_t& length, bool doPad) THROWS_PARSE_ERROR;	// Get a :-separated list of unsigned ints after a key letter
+	void GetDriverIdArray(DriverId arr[], size_t& length) THROWS_PARSE_ERROR;	// Get a :-separated list of drivers after a key letter
 
 	void SetFinished();									// Set the G Code finished
 	void SetCommsProperties(uint32_t arg) { checksumRequired = (arg & 1); }
@@ -62,30 +63,33 @@ public:
 	void FinishWritingBinary();
 #endif
 
-	FilePosition GetFilePosition() const;				// Get the file position at the start of the current command
+	FilePosition GetFilePosition() const noexcept;				// Get the file position at the start of the current command
 
-	const char* DataStart() const;						// Get the start of the current command
-	size_t DataLength() const;							// Get the length of the current command
+	const char* DataStart() const noexcept;						// Get the start of the current command
+	size_t DataLength() const noexcept;							// Get the length of the current command
 
-	void PrintCommand(const StringRef& s) const;
-	void AppendFullCommand(const StringRef &s) const;
+	void PrintCommand(const StringRef& s) const noexcept;
+	void AppendFullCommand(const StringRef &s) const noexcept;
 
-private:
+	ParseException ConstructParseException(const char *str) const;
+	ParseException ConstructParseException(const char *str, const char *param) const;
+	ParseException ConstructParseException(const char *str, uint32_t param) const;
 
+private:
 	GCodeBuffer& gb;
 
-	void AddToChecksum(char c);
+	void AddToChecksum(char c) noexcept;
 	void StoreAndAddToChecksum(char c);
 	bool LineFinished();								// Deal with receiving end-of-line and return true if we have a command
 	void DecodeCommand();
-	bool InternalGetQuotedString(const StringRef& str)
+	void InternalGetQuotedString(const StringRef& str) THROWS_PARSE_ERROR
 		pre (readPointer >= 0; gb.buffer[readPointer] == '"'; str.IsEmpty());
-	bool InternalGetPossiblyQuotedString(const StringRef& str)
+	void InternalGetPossiblyQuotedString(const StringRef& str, bool allowEmpty) THROWS_PARSE_ERROR
 		pre (readPointer >= 0);
-	float ReadFloatValue(const char *p, const char **endptr);
-	uint32_t ReadUIValue(const char *p, const char **endptr);
-	int32_t ReadIValue(const char *p, const char **endptr);
-	DriverId ReadDriverIdValue(const char *p, const char **endptr);
+	float ReadFloatValue() THROWS_PARSE_ERROR;
+	uint32_t ReadUIValue() THROWS_PARSE_ERROR;
+	int32_t ReadIValue() THROWS_PARSE_ERROR;
+	DriverId ReadDriverIdValue() THROWS_PARSE_ERROR;
 
 	bool ProcessConditionalGCode(bool skippedIfFalse);	// Check for and process a conditional GCode language command returning true if we found one
 	void CreateBlocks();								// Create new code blocks
@@ -95,14 +99,14 @@ private:
 	void ProcessWhileCommand();
 	void ProcessBreakCommand();
 	void ProcessVarCommand();
-	bool EvaluateCondition(const char* keyword);
+	bool EvaluateCondition(const char* keyword) THROWS_PARSE_ERROR;
 
-#if SUPPORT_OBJECT_MODEL
-	bool GetStringExpression(const StringRef& str)
+	void GetStringExpression(const StringRef& str) THROWS_PARSE_ERROR
 		pre (readPointer >= 0; gb.buffer[readPointer] == '{'; str.IsEmpty());
-	TypeCode EvaluateExpression(const char *p, const char **endptr, ExpressionValue& rslt)
+	ExpressionValue EvaluateExpression() THROWS_PARSE_ERROR
 		pre (readPointer >= 0; gb.buffer[readPointer] == '{');
-#endif
+	ExpressionValue ParseNumber() THROWS_PARSE_ERROR
+		pre(isdigit(*s));
 
 	unsigned int commandStart;							// Index in the buffer of the command letter of this command
 	unsigned int parameterStart;
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 7188e1e0..33295463 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -2692,15 +2692,8 @@ GCodeResult GCodes::SaveHeightMap(GCodeBuffer& gb, const StringRef& reply) const
 	if (gb.Seen('P'))
 	{
 		String<MaxFilenameLength> heightMapFileName;
-		if (gb.GetQuotedString(heightMapFileName.GetRef()))
-		{
-			return GetGCodeResultFromError(TrySaveHeightMap(heightMapFileName.c_str(), reply));
-		}
-		else
-		{
-			reply.copy("Missing height map file name");
-			return GCodeResult::error;
-		}
+		gb.GetQuotedString(heightMapFileName.GetRef());
+		return GetGCodeResultFromError(TrySaveHeightMap(heightMapFileName.c_str(), reply));
 	}
 	return GetGCodeResultFromError(TrySaveHeightMap(DefaultHeightMapFile, reply));
 }
@@ -2991,11 +2984,7 @@ GCodeResult GCodes::ManageTool(GCodeBuffer& gb, const StringRef& reply)
 	String<ToolNameLength> name;
 	if (gb.Seen('S'))
 	{
-		if (!gb.GetQuotedString(name.GetRef()))
-		{
-			reply.copy("Invalid tool name");
-			return GCodeResult::error;
-		}
+		gb.GetQuotedString(name.GetRef());
 		seen = true;
 	}
 
@@ -3487,11 +3476,7 @@ GCodeResult GCodes::LoadFilament(GCodeBuffer& gb, const StringRef& reply)
 	if (gb.Seen('S'))
 	{
 		String<FilamentNameLength> filamentName;
-		if (!gb.GetQuotedString(filamentName.GetRef()) || filamentName.IsEmpty())
-		{
-			reply.copy("Invalid filament name");
-			return GCodeResult::error;
-		}
+		gb.GetQuotedString(filamentName.GetRef());
 
 		if (StringContains(filamentName.c_str(), ",") >= 0)
 		{
diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp
index ca2f95e4..a56db99f 100644
--- a/src/GCodes/GCodes2.cpp
+++ b/src/GCodes/GCodes2.cpp
@@ -10,6 +10,7 @@
 #include "GCodes.h"
 
 #include "GCodeBuffer/GCodeBuffer.h"
+#include "GCodeBuffer/ParseException.h"
 #include "GCodeQueue.h"
 #include "Heating/Heat.h"
 #include "Movement/Move.h"
@@ -69,29 +70,39 @@ bool GCodes::ActOnCode(GCodeBuffer& gb, const StringRef& reply)
 		return false;		// we should queue this code but we can't, so wait until we can either execute it or queue it
 	}
 
-	switch (gb.GetCommandLetter())
+	try
 	{
-	case 'G':
-		if (gb.HasCommandNumber())
+		switch (gb.GetCommandLetter())
 		{
-			return HandleGcode(gb, reply);
-		}
-		break;
+		case 'G':
+			if (gb.HasCommandNumber())
+			{
+				return HandleGcode(gb, reply);
+			}
+			break;
 
-	case 'M':
-		if (gb.HasCommandNumber())
-		{
-			return HandleMcode(gb, reply);
-		}
-		break;
+		case 'M':
+			if (gb.HasCommandNumber())
+			{
+				return HandleMcode(gb, reply);
+			}
+			break;
 
-	case 'T':
-		return HandleTcode(gb, reply);
+		case 'T':
+			return HandleTcode(gb, reply);
 
-	default:
-		break;
+		default:
+			break;
+		}
+	}
+	catch (const ParseException& e)
+	{
+		e.GetMessage(reply);
+		HandleReply(gb, GCodeResult::error, reply.c_str());
+		return true;
 	}
 
+	// if we get here then we didn't see a command that was worth parsing
 	reply.printf("Bad command: ");
 	gb.AppendFullCommand(reply);
 	HandleReply(gb, GCodeResult::error, reply.c_str());
@@ -387,9 +398,6 @@ bool GCodes::HandleGcode(GCodeBuffer& gb, const StringRef& reply)
 
 bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 {
-	GCodeResult result = GCodeResult::ok;
-	OutputBuffer *outBuf = nullptr;
-
 	const int code = gb.GetCommandNumber();
 	if (   simulationMode != 0
 		&& (code < 20 || code > 37)
@@ -399,351 +407,355 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 		return true;			// we don't simulate most M codes
 	}
 
-	switch (code)
+	OutputBuffer *outBuf = nullptr;
+
+	try
 	{
-	case 0: // Stop
-	case 1: // Sleep
-		// Don't allow M0 or M1 to stop a print, unless the print is paused or the command comes from the file being printed itself.
-		if (reprap.GetPrintMonitor().IsPrinting() && &gb != fileGCode && !IsPaused())
-		{
-			reply.copy("Pause the print before attempting to cancel it");
-			result = GCodeResult::error;
-		}
-		else if (   !LockMovementAndWaitForStandstill(gb)	// wait until everything has stopped
-				 || !IsCodeQueueIdle()						// must also wait until deferred command queue has caught up
-			    )
+		GCodeResult result = GCodeResult::ok;
+		switch (code)
 		{
-			return false;
-		}
-		else
-		{
-			const bool wasPaused = isPaused;				// isPaused gets cleared by CancelPrint
-			const bool wasSimulating = IsSimulating();		// simulationMode may get cleared by CancelPrint
-			isWaiting = cancelWait = false;					// we may have been waiting for temperatures to be reached
-			StopPrint((&gb == fileGCode) ? StopPrintReason::normalCompletion : StopPrintReason::userCancelled);
-
-			if (!wasSimulating)								// don't run any macro files or turn heaters off etc. if we were simulating before we stopped the print
+		case 0: // Stop
+		case 1: // Sleep
+			// Don't allow M0 or M1 to stop a print, unless the print is paused or the command comes from the file being printed itself.
+			if (reprap.GetPrintMonitor().IsPrinting() && &gb != fileGCode && !IsPaused())
 			{
-				// If we are cancelling a paused print with M0 and we are homed and cancel.g exists then run it and do nothing else
-				if (wasPaused && code == 0 && AllAxesAreHomed() && DoFileMacro(gb, CANCEL_G, false, 0))
+				reply.copy("Pause the print before attempting to cancel it");
+				result = GCodeResult::error;
+			}
+			else if (   !LockMovementAndWaitForStandstill(gb)	// wait until everything has stopped
+					 || !IsCodeQueueIdle()						// must also wait until deferred command queue has caught up
+					)
+			{
+				return false;
+			}
+			else
+			{
+				const bool wasPaused = isPaused;				// isPaused gets cleared by CancelPrint
+				const bool wasSimulating = IsSimulating();		// simulationMode may get cleared by CancelPrint
+				isWaiting = cancelWait = false;					// we may have been waiting for temperatures to be reached
+				StopPrint((&gb == fileGCode) ? StopPrintReason::normalCompletion : StopPrintReason::userCancelled);
+
+				if (!wasSimulating)								// don't run any macro files or turn heaters off etc. if we were simulating before we stopped the print
 				{
-					break;
-				}
+					// If we are cancelling a paused print with M0 and we are homed and cancel.g exists then run it and do nothing else
+					if (wasPaused && code == 0 && AllAxesAreHomed() && DoFileMacro(gb, CANCEL_G, false, 0))
+					{
+						break;
+					}
 
-				const bool leaveHeatersOn = (gb.Seen('H') && gb.GetIValue() > 0);
-				gb.SetState((leaveHeatersOn) ? GCodeState::stoppingWithHeatersOn : GCodeState::stoppingWithHeatersOff);
-				(void)DoFileMacro(gb, (code == 0) ? STOP_G : SLEEP_G, false, code);
+					const bool leaveHeatersOn = (gb.Seen('H') && gb.GetIValue() > 0);
+					gb.SetState((leaveHeatersOn) ? GCodeState::stoppingWithHeatersOn : GCodeState::stoppingWithHeatersOff);
+					(void)DoFileMacro(gb, (code == 0) ? STOP_G : SLEEP_G, false, code);
+				}
 			}
-		}
-		break;
+			break;
 
-	case 3: // Spin spindle clockwise
-		{
-			const uint32_t slot = gb.Seen('P') ? gb.GetUIValue() : 0;
-			if (slot >= MaxSpindles && machineType == MachineType::cnc)
-			{
-				reply.copy("Invalid spindle index");
-				result = GCodeResult::error;
-			}
-			else if (gb.Seen('S'))
+		case 3: // Spin spindle clockwise
 			{
-				switch (machineType)
+				const uint32_t slot = gb.Seen('P') ? gb.GetUIValue() : 0;
+				if (slot >= MaxSpindles && machineType == MachineType::cnc)
 				{
-				case MachineType::cnc:
-					platform.AccessSpindle(slot).SetRpm(gb.GetFValue());
-					break;
+					reply.copy("Invalid spindle index");
+					result = GCodeResult::error;
+				}
+				else if (gb.Seen('S'))
+				{
+					switch (machineType)
+					{
+					case MachineType::cnc:
+						platform.AccessSpindle(slot).SetRpm(gb.GetFValue());
+						break;
 
 #if SUPPORT_LASER
-				case MachineType::laser:
-					moveBuffer.laserPwmOrIoBits.laserPwm = ConvertLaserPwm(gb.GetFValue());
-					break;
+					case MachineType::laser:
+						moveBuffer.laserPwmOrIoBits.laserPwm = ConvertLaserPwm(gb.GetFValue());
+						break;
 #endif
 
-				default:
+					default:
 #if SUPPORT_ROLAND
-					if (reprap.GetRoland()->Active())
+						if (reprap.GetRoland()->Active())
+						{
+							result = reprap.GetRoland()->ProcessSpindle(gb.GetFValue());
+						}
+						else
+#endif
+						{
+							result = GCodeResult::notSupportedInCurrentMode;
+						}
+						break;
+					}
+				}
+				else if (machineType == MachineType::cnc && gb.Seen('R'))
+				{
+					const unsigned int rpNumber = gb.GetUIValue();
+					if (rpNumber >= NumRestorePoints)
 					{
-						result = reprap.GetRoland()->ProcessSpindle(gb.GetFValue());
+						reply.copy("Invalid restore point number");
+						result = GCodeResult::error;
 					}
 					else
-#endif
 					{
-						result = GCodeResult::notSupportedInCurrentMode;
+						platform.AccessSpindle(slot).SetRpm(numberedRestorePoints[rpNumber].spindleSpeeds[slot]);
 					}
-					break;
 				}
 			}
-			else if (machineType == MachineType::cnc && gb.Seen('R'))
+			break;
+
+		case 4: // Spin spindle counter clockwise
+			if (gb.Seen('S'))
 			{
-				const unsigned int rpNumber = gb.GetUIValue();
-				if (rpNumber >= NumRestorePoints)
+				if (machineType == MachineType::cnc)
 				{
-					reply.copy("Invalid restore point number");
-					result = GCodeResult::error;
+					const float rpm = gb.GetFValue();
+					const uint32_t slot = gb.Seen('P') ? gb.GetUIValue() : 0;
+					if (slot >= MaxSpindles)
+					{
+						reply.copy("Invalid spindle index");
+						result = GCodeResult::error;
+					}
+					else
+					{
+						platform.AccessSpindle(slot).SetRpm(-rpm);
+					}
 				}
 				else
 				{
-					platform.AccessSpindle(slot).SetRpm(numberedRestorePoints[rpNumber].spindleSpeeds[slot]);
+					result = GCodeResult::notSupportedInCurrentMode;
 				}
 			}
-		}
-		break;
+			break;
 
-	case 4: // Spin spindle counter clockwise
-		if (gb.Seen('S'))
-		{
-			if (machineType == MachineType::cnc)
+		case 5: // Spindle motor off
+			switch (machineType)
 			{
-				const float rpm = gb.GetFValue();
-				const uint32_t slot = gb.Seen('P') ? gb.GetUIValue() : 0;
-				if (slot >= MaxSpindles)
+			case MachineType::cnc:
+				if (gb.Seen('P'))
 				{
-					reply.copy("Invalid spindle index");
-					result = GCodeResult::error;
+					// Turn off specific spindle
+					const uint32_t slot = gb.GetUIValue();
+					if (slot >= MaxSpindles)
+					{
+						reply.copy("Invalid spindle index");
+						result = GCodeResult::error;
+					}
+					else
+					{
+						platform.AccessSpindle(slot).TurnOff();
+					}
 				}
 				else
 				{
-					platform.AccessSpindle(slot).SetRpm(-rpm);
+					// Turn off every spindle if no 'P' parameter is present
+					for (size_t i = 0; i < MaxSpindles; i++)
+					{
+						platform.AccessSpindle(i).TurnOff();
+					}
 				}
-			}
-			else
-			{
-				result = GCodeResult::notSupportedInCurrentMode;
-			}
-		}
-		break;
+				break;
 
-	case 5: // Spindle motor off
-		switch (machineType)
-		{
-		case MachineType::cnc:
-			if (gb.Seen('P'))
-			{
-				// Turn off specific spindle
-				const uint32_t slot = gb.GetUIValue();
-				if (slot >= MaxSpindles)
+	#if SUPPORT_LASER
+			case MachineType::laser:
+				moveBuffer.laserPwmOrIoBits.Clear();
+				break;
+#endif
+
+			default:
+#if SUPPORT_ROLAND
+				if (reprap.GetRoland()->Active())
 				{
-					reply.copy("Invalid spindle index");
-					result = GCodeResult::error;
+					result = reprap.GetRoland()->ProcessSpindle(0.0);
 				}
 				else
+#endif
 				{
-					platform.AccessSpindle(slot).TurnOff();
-				}
-			}
-			else
-			{
-				// Turn off every spindle if no 'P' parameter is present
-				for (size_t i = 0; i < MaxSpindles; i++)
-				{
-					platform.AccessSpindle(i).TurnOff();
+					result = GCodeResult::notSupportedInCurrentMode;
 				}
+				break;
 			}
 			break;
 
-#if SUPPORT_LASER
-		case MachineType::laser:
-			moveBuffer.laserPwmOrIoBits.Clear();
-			break;
-#endif
-
-		default:
-#if SUPPORT_ROLAND
-			if (reprap.GetRoland()->Active())
+		case 18: // Motors off
+		case 84:
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				result = reprap.GetRoland()->ProcessSpindle(0.0);
+				return false;
 			}
-			else
-#endif
 			{
-				result = GCodeResult::notSupportedInCurrentMode;
-			}
-			break;
-		}
-		break;
+				bool seen = false;
+				for (size_t axis = 0; axis < numTotalAxes; axis++)
+				{
+					if (gb.Seen(axisLetters[axis]))
+					{
+						SetAxisNotHomed(axis);
+						platform.DisableDrivers(axis);
+						seen = true;
+					}
+				}
 
-	case 18: // Motors off
-	case 84:
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		{
-			bool seen = false;
-			for (size_t axis = 0; axis < numTotalAxes; axis++)
-			{
-				if (gb.Seen(axisLetters[axis]))
+				if (gb.Seen(extrudeLetter))
 				{
-					SetAxisNotHomed(axis);
-					platform.DisableDrivers(axis);
-					seen = true;
+					uint32_t eDrive[MaxExtruders];
+					size_t eCount = numExtruders;
+					gb.GetUnsignedArray(eDrive, eCount, false);
+					for (size_t i = 0; i < eCount; i++)
+					{
+						seen = true;
+						if (eDrive[i] >= numExtruders)
+						{
+							reply.printf("Invalid extruder number specified: %" PRIu32, eDrive[i]);
+							result = GCodeResult::error;
+							break;
+						}
+						platform.DisableDrivers(ExtruderToLogicalDrive(eDrive[i]));
+					}
 				}
-			}
 
-			if (gb.Seen(extrudeLetter))
-			{
-				uint32_t eDrive[MaxExtruders];
-				size_t eCount = numExtruders;
-				gb.GetUnsignedArray(eDrive, eCount, false);
-				for (size_t i = 0; i < eCount; i++)
+				if (gb.Seen('S'))
 				{
 					seen = true;
-					if (eDrive[i] >= numExtruders)
+
+					const float idleTimeout = gb.GetFValue();
+					if (idleTimeout < 0.0)
 					{
-						reply.printf("Invalid extruder number specified: %" PRIu32, eDrive[i]);
+						reply.copy("Idle timeouts cannot be negative");
 						result = GCodeResult::error;
-						break;
 					}
-					platform.DisableDrivers(ExtruderToLogicalDrive(eDrive[i]));
+					else
+					{
+						reprap.GetMove().SetIdleTimeout(idleTimeout);
+					}
 				}
-			}
-
-			if (gb.Seen('S'))
-			{
-				seen = true;
 
-				const float idleTimeout = gb.GetFValue();
-				if (idleTimeout < 0.0)
-				{
-					reply.copy("Idle timeouts cannot be negative");
-					result = GCodeResult::error;
-				}
-				else
+				if (!seen)
 				{
-					reprap.GetMove().SetIdleTimeout(idleTimeout);
+					DisableDrives();
 				}
 			}
-
-			if (!seen)
-			{
-				DisableDrives();
-			}
-		}
-		break;
+			break;
 
 #if HAS_MASS_STORAGE
-	case 20:		// List files on SD card
-		if (!LockFileSystem(gb))		// don't allow more than one at a time to avoid contention on output buffers
-		{
-			return false;
-		}
-		{
-			const int sparam = (gb.Seen('S')) ? gb.GetIValue() : 0;
-			const unsigned int rparam = (gb.Seen('R')) ? gb.GetUIValue() : 0;
-			String<MaxFilenameLength> dir;
-			if (gb.Seen('P'))
-			{
-				gb.GetPossiblyQuotedString(dir.GetRef());
-			}
-			else
+		case 20:		// List files on SD card
+			if (!LockFileSystem(gb))		// don't allow more than one at a time to avoid contention on output buffers
 			{
-				dir.copy(platform.GetGCodeDir());
+				return false;
 			}
-
-			if (sparam == 2)
 			{
-				outBuf = reprap.GetFilesResponse(dir.c_str(), rparam, true);	// send the file list in JSON format
-				if (outBuf == nullptr)
+				const int sparam = (gb.Seen('S')) ? gb.GetIValue() : 0;
+				const unsigned int rparam = (gb.Seen('R')) ? gb.GetUIValue() : 0;
+				String<MaxFilenameLength> dir;
+				if (gb.Seen('P'))
 				{
-					return false;
+					gb.GetPossiblyQuotedString(dir.GetRef());
 				}
-				outBuf->cat('\n');
-			}
-			else if (sparam == 3)
-			{
-				outBuf = reprap.GetFilelistResponse(dir.c_str(), rparam);
-				if (outBuf == nullptr)
+				else
 				{
-					return false;
+					dir.copy(platform.GetGCodeDir());
 				}
-				outBuf->cat('\n');
-			}
-			else
-			{
-				if (!OutputBuffer::Allocate(outBuf))
+
+				if (sparam == 2)
 				{
-					return false;													// cannot allocate an output buffer, try again later
+					outBuf = reprap.GetFilesResponse(dir.c_str(), rparam, true);	// send the file list in JSON format
+					if (outBuf == nullptr)
+					{
+						return false;
+					}
+					outBuf->cat('\n');
 				}
-
-				// To mimic the behaviour of the official RepRapPro firmware:
-				// If we are emulating RepRap then we print "GCode files:\n" at the start, otherwise we don't.
-				// If we are emulating Marlin and the code came via the serial/USB interface, then we don't put quotes around the names and we separate them with newline;
-				// otherwise we put quotes around them and separate them with comma.
-				if (gb.MachineState().compatibility == Compatibility::me || gb.MachineState().compatibility == Compatibility::reprapFirmware)
+				else if (sparam == 3)
 				{
-					outBuf->copy("GCode files:\n");
+					outBuf = reprap.GetFilelistResponse(dir.c_str(), rparam);
+					if (outBuf == nullptr)
+					{
+						return false;
+					}
+					outBuf->cat('\n');
 				}
-
-				bool encapsulateList = gb.MachineState().compatibility != Compatibility::marlin;
-				FileInfo fileInfo;
-				if (MassStorage::FindFirst(dir.c_str(), fileInfo))
+				else
 				{
-					// iterate through all entries and append each file name
-					do {
+					if (!OutputBuffer::Allocate(outBuf))
+					{
+						return false;													// cannot allocate an output buffer, try again later
+					}
+
+					// To mimic the behaviour of the official RepRapPro firmware:
+					// If we are emulating RepRap then we print "GCode files:\n" at the start, otherwise we don't.
+					// If we are emulating Marlin and the code came via the serial/USB interface, then we don't put quotes around the names and we separate them with newline;
+					// otherwise we put quotes around them and separate them with comma.
+					if (gb.MachineState().compatibility == Compatibility::me || gb.MachineState().compatibility == Compatibility::reprapFirmware)
+					{
+						outBuf->copy("GCode files:\n");
+					}
+
+					bool encapsulateList = gb.MachineState().compatibility != Compatibility::marlin;
+					FileInfo fileInfo;
+					if (MassStorage::FindFirst(dir.c_str(), fileInfo))
+					{
+						// iterate through all entries and append each file name
+						do {
+							if (encapsulateList)
+							{
+								outBuf->catf("%c%s%c%c", FILE_LIST_BRACKET, fileInfo.fileName.c_str(), FILE_LIST_BRACKET, FILE_LIST_SEPARATOR);
+							}
+							else
+							{
+								outBuf->catf("%s\n", fileInfo.fileName.c_str());
+							}
+						} while (MassStorage::FindNext(fileInfo));
+
 						if (encapsulateList)
 						{
-							outBuf->catf("%c%s%c%c", FILE_LIST_BRACKET, fileInfo.fileName.c_str(), FILE_LIST_BRACKET, FILE_LIST_SEPARATOR);
+							// remove the last separator
+							(*outBuf)[outBuf->Length() - 1] = 0;
 						}
-						else
-						{
-							outBuf->catf("%s\n", fileInfo.fileName.c_str());
-						}
-					} while (MassStorage::FindNext(fileInfo));
-
-					if (encapsulateList)
+					}
+					else
 					{
-						// remove the last separator
-						(*outBuf)[outBuf->Length() - 1] = 0;
+						outBuf->cat("NONE\n");
 					}
 				}
-				else
-				{
-					outBuf->cat("NONE\n");
-				}
 			}
-		}
-		break;
-
-	case 21: // Initialise SD card
-		if (!LockFileSystem(gb))		// don't allow more than one at a time to avoid contention on output buffers
-		{
-			return false;
-		}
-		{
-			const size_t card = (gb.Seen('P')) ? gb.GetIValue() : 0;
-			result = MassStorage::Mount(card, reply, true);
-		}
-		break;
+			break;
 
-	case 22: // Release SD card
-		if (!LockFileSystem(gb))		// don't allow more than one at a time to avoid contention on output buffers
-		{
-			return false;
-		}
-		{
-			const size_t card = (gb.Seen('P')) ? gb.GetIValue() : 0;
-			result = MassStorage::Unmount(card, reply);
-		}
-		break;
+		case 21: // Initialise SD card
+			if (!LockFileSystem(gb))		// don't allow more than one at a time to avoid contention on output buffers
+			{
+				return false;
+			}
+			{
+				const size_t card = (gb.Seen('P')) ? gb.GetIValue() : 0;
+				result = MassStorage::Mount(card, reply, true);
+			}
+			break;
 
-	case 23: // Set file to print
-	case 32: // Select file and start SD print
-		// We now allow a file that is being printed to chain to another file. This is required for the resume-after-power-fail functionality.
-		if (fileGCode->IsDoingFile() && (&gb) != fileGCode)
-		{
-			reply.copy("Cannot set file to print, because a file is already being printed");
-			result = GCodeResult::error;
+		case 22: // Release SD card
+			if (!LockFileSystem(gb))		// don't allow more than one at a time to avoid contention on output buffers
+			{
+				return false;
+			}
+			{
+				const size_t card = (gb.Seen('P')) ? gb.GetIValue() : 0;
+				result = MassStorage::Unmount(card, reply);
+			}
 			break;
-		}
 
-		if (code == 32 && !LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		{
-			String<MaxFilenameLength> filename;
-			if (gb.GetUnprecedentedString(filename.GetRef()))
+		case 23: // Set file to print
+		case 32: // Select file and start SD print
+			// We now allow a file that is being printed to chain to another file. This is required for the resume-after-power-fail functionality.
+			if (fileGCode->IsDoingFile() && (&gb) != fileGCode)
 			{
+				reply.copy("Cannot set file to print, because a file is already being printed");
+				result = GCodeResult::error;
+				break;
+			}
+
+			if (code == 32 && !LockMovementAndWaitForStandstill(gb))
+			{
+				return false;
+			}
+			{
+				String<MaxFilenameLength> filename;
+				gb.GetUnprecedentedString(filename.GetRef());
 				if (QueueFileToPrint(filename.c_str(), reply))
 				{
 					reprap.GetPrintMonitor().StartingPrint(filename.c_str());
@@ -767,169 +779,162 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 					result = GCodeResult::error;
 				}
 			}
-			else
-			{
-				reply.copy("Filename expected");
-				result = GCodeResult::error;
-			}
-		}
-		break;
+			break;
 #endif
 
-	case 24: // Print/resume-printing the selected file
-		if (IsPausing() || IsResuming())
-		{
-			// ignore the resume request
-		}
-		else
-		{
-			if (!LockMovementAndWaitForStandstill(gb))
+		case 24: // Print/resume-printing the selected file
+			if (IsPausing() || IsResuming())
 			{
-				return false;
+				// ignore the resume request
 			}
-
-			if (IsPaused())
+			else
 			{
+				if (!LockMovementAndWaitForStandstill(gb))
+				{
+					return false;
+				}
+
+				if (IsPaused())
+				{
 #if HAS_VOLTAGE_MONITOR
-				if (!platform.IsPowerOk())
+					if (!platform.IsPowerOk())
+					{
+						reply.copy("Cannot resume while power voltage is low");
+						result = GCodeResult::error;
+					}
+					else
+#endif
+					{
+						gb.SetState(GCodeState::resuming1);
+						if (AllAxesAreHomed())
+						{
+							DoFileMacro(gb, RESUME_G, true, 24);
+						}
+					}
+				}
+#if HAS_MASS_STORAGE
+				else if (!fileToPrint.IsLive())
 				{
-					reply.copy("Cannot resume while power voltage is low");
+					reply.copy("Cannot print, because no file is selected!");
 					result = GCodeResult::error;
 				}
 				else
-#endif
 				{
-					gb.SetState(GCodeState::resuming1);
-					if (AllAxesAreHomed())
+# if HAS_VOLTAGE_MONITOR
+					if (!platform.IsPowerOk())
 					{
-						DoFileMacro(gb, RESUME_G, true, 24);
+						reply.copy("Cannot start a print while power voltage is low");
+						result = GCodeResult::error;
+					}
+					else
+# endif
+					{
+						bool fromStart = (fileOffsetToPrint == 0);
+						if (!fromStart)
+						{
+							// We executed M26 to set the file offset, which normally means that we are executing resurrect.g.
+							// We need to copy the absolute/relative and volumetric extrusion flags over
+							fileGCode->OriginalMachineState().CopyStateFrom(gb.MachineState());
+							fileToPrint.Seek(fileOffsetToPrint);
+							moveFractionToSkip = restartMoveFractionDone;
+						}
+						StartPrinting(fromStart);
 					}
 				}
+#endif
 			}
-#if HAS_MASS_STORAGE
-			else if (!fileToPrint.IsLive())
+			break;
+
+		case 226: // Synchronous pause, normally initiated from within the file being printed
+			if (!isPaused && !IsPausing())
 			{
-				reply.copy("Cannot print, because no file is selected!");
-				result = GCodeResult::error;
+				if (gb.IsDoingFileMacro())
+				{
+					pausePending = true;
+				}
+				else
+				{
+					if (!LockMovementAndWaitForStandstill(gb))	// lock movement before calling DoPause, also wait for movement to complete
+					{
+						return false;
+					}
+					DoPause(gb, PauseReason::gcode, nullptr);
+				}
 			}
-			else
+			break;
+
+		case 600: // Filament change pause, synchronous
+			if (!isPaused && !IsPausing())
 			{
-# if HAS_VOLTAGE_MONITOR
-				if (!platform.IsPowerOk())
+				if (gb.IsDoingFileMacro())
 				{
-					reply.copy("Cannot start a print while power voltage is low");
-					result = GCodeResult::error;
+					filamentChangePausePending = true;
 				}
 				else
-# endif
 				{
-					bool fromStart = (fileOffsetToPrint == 0);
-					if (!fromStart)
+					if (!LockMovementAndWaitForStandstill(gb))	// lock movement before calling DoPause, also wait for movement to complete
 					{
-						// We executed M26 to set the file offset, which normally means that we are executing resurrect.g.
-						// We need to copy the absolute/relative and volumetric extrusion flags over
-						fileGCode->OriginalMachineState().CopyStateFrom(gb.MachineState());
-						fileToPrint.Seek(fileOffsetToPrint);
-						moveFractionToSkip = restartMoveFractionDone;
+						return false;
 					}
-					StartPrinting(fromStart);
+					DoPause(gb, PauseReason::filamentChange, nullptr);
 				}
 			}
-#endif
-		}
-		break;
+			break;
 
-	case 226: // Synchronous pause, normally initiated from within the file being printed
-		if (!isPaused && !IsPausing())
-		{
-			if (gb.IsDoingFileMacro())
+		case 25: // Pause the print
+			if (isPaused)
 			{
-				pausePending = true;
+				reply.copy("Printing is already paused!!");
+				result = GCodeResult::error;
 			}
-			else
+			else if (!reprap.GetPrintMonitor().IsPrinting())
 			{
-				if (!LockMovementAndWaitForStandstill(gb))	// lock movement before calling DoPause, also wait for movement to complete
-				{
-					return false;
-				}
-				DoPause(gb, PauseReason::gcode, nullptr);
+				reply.copy("Cannot pause print, because no file is being printed!");
+				result = GCodeResult::error;
 			}
-		}
-		break;
-
-	case 600: // Filament change pause, synchronous
-		if (!isPaused && !IsPausing())
-		{
-			if (gb.IsDoingFileMacro())
+			else if (fileGCode->IsDoingFileMacro())
 			{
-				filamentChangePausePending = true;
+				pausePending = true;
 			}
 			else
 			{
-				if (!LockMovementAndWaitForStandstill(gb))	// lock movement before calling DoPause, also wait for movement to complete
+				if (!LockMovement(gb))					// lock movement before calling DoPause
 				{
 					return false;
 				}
-				DoPause(gb, PauseReason::filamentChange, nullptr);
+				DoPause(gb, PauseReason::user, nullptr);
 			}
-		}
-		break;
+			break;
 
-	case 25: // Pause the print
-		if (isPaused)
-		{
-			reply.copy("Printing is already paused!!");
-			result = GCodeResult::error;
-		}
-		else if (!reprap.GetPrintMonitor().IsPrinting())
-		{
-			reply.copy("Cannot pause print, because no file is being printed!");
-			result = GCodeResult::error;
-		}
-		else if (fileGCode->IsDoingFileMacro())
-		{
-			pausePending = true;
-		}
-		else
-		{
-			if (!LockMovement(gb))					// lock movement before calling DoPause
+#if HAS_MASS_STORAGE
+		case 26: // Set SD position
+			// This is used between executing M23 to set up the file to print, and M25 to print it
+			if (gb.Seen('S'))
 			{
-				return false;
+				fileOffsetToPrint = (FilePosition)gb.GetUIValue();
+				restartMoveFractionDone = (gb.Seen('P')) ? constrain<float>(gb.GetFValue(), 0.0, 1.0) : 0.0;
+				restartInitialUserX = (gb.Seen('X')) ? gb.GetFValue() : 0.0;
+				restartInitialUserY = (gb.Seen('Y')) ? gb.GetFValue() : 0.0;
 			}
-			DoPause(gb, PauseReason::user, nullptr);
-		}
-		break;
-
-#if HAS_MASS_STORAGE
-	case 26: // Set SD position
-		// This is used between executing M23 to set up the file to print, and M25 to print it
-		if (gb.Seen('S'))
-		{
-			fileOffsetToPrint = (FilePosition)gb.GetUIValue();
-			restartMoveFractionDone = (gb.Seen('P')) ? constrain<float>(gb.GetFValue(), 0.0, 1.0) : 0.0;
-			restartInitialUserX = (gb.Seen('X')) ? gb.GetFValue() : 0.0;
-			restartInitialUserY = (gb.Seen('Y')) ? gb.GetFValue() : 0.0;
-		}
-		break;
+			break;
 
-	case 27: // Report print status - Deprecated
-		if (reprap.GetPrintMonitor().IsPrinting())
-		{
-			// Pronterface keeps sending M27 commands if "Monitor status" is checked, and it specifically expects the following response syntax
-			FileData& fileBeingPrinted = fileGCode->OriginalMachineState().fileState;
-			reply.printf("SD printing byte %lu/%lu", GetFilePosition(), fileBeingPrinted.Length());
-		}
-		else
-		{
-			reply.copy("Not SD printing.");
-		}
-		break;
+		case 27: // Report print status - Deprecated
+			if (reprap.GetPrintMonitor().IsPrinting())
+			{
+				// Pronterface keeps sending M27 commands if "Monitor status" is checked, and it specifically expects the following response syntax
+				FileData& fileBeingPrinted = fileGCode->OriginalMachineState().fileState;
+				reply.printf("SD printing byte %lu/%lu", GetFilePosition(), fileBeingPrinted.Length());
+			}
+			else
+			{
+				reply.copy("Not SD printing.");
+			}
+			break;
 
-	case 28: // Write to file
-		{
-			String<MaxFilenameLength> filename;
-			if (gb.GetUnprecedentedString(filename.GetRef()))
+		case 28: // Write to file
 			{
+				String<MaxFilenameLength> filename;
+				gb.GetUnprecedentedString(filename.GetRef());
 				const bool ok = gb.OpenFileToWrite(platform.GetGCodeDir(), filename.c_str(), 0, false, 0);
 				if (ok)
 				{
@@ -941,113 +946,99 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 					result = GCodeResult::error;
 				}
 			}
-			else
-			{
-				reply.copy("Filename expected");
-				result = GCodeResult::error;
-			}
-		}
-		break;
+			break;
 
-	case 29: // End of file being written; should be intercepted before getting here
-		reply.copy("GCode end-of-file being interpreted.");
-		break;
+		case 29: // End of file being written; should be intercepted before getting here
+			reply.copy("GCode end-of-file being interpreted.");
+			break;
 
-	case 30:	// Delete file
-		{
-			String<MaxFilenameLength> filename;
-			if (gb.GetUnprecedentedString(filename.GetRef()))
+		case 30:	// Delete file
 			{
+				String<MaxFilenameLength> filename;
+				gb.GetUnprecedentedString(filename.GetRef());
 				platform.Delete(platform.GetGCodeDir(), filename.c_str());
 			}
-			else
-			{
-				reply.copy("Filename expected");
-				result = GCodeResult::error;
-			}
-		}
-		break;
+			break;
 #endif
 
 		// For case 32, see case 23
 
 #if HAS_MASS_STORAGE || HAS_LINUX_INTERFACE
-	case 36:	// Return file information
+		case 36:	// Return file information
 # if HAS_LINUX_INTERFACE
-		if (reprap.UsingLinuxInterface())
-		{
-			reprap.GetFileInfoResponse(nullptr, outBuf, true);
-		}
-		else
-# endif
-		{
-# if HAS_MASS_STORAGE
-			if (!LockFileSystem(gb))									// getting file info takes several calls and isn't reentrant
-			{
-				return false;
-			}
-
-			String<MaxFilenameLength> filename;
-			const bool gotFilename = gb.GetUnprecedentedString(filename.GetRef());
-			const bool done = reprap.GetFileInfoResponse((gotFilename) ? filename.c_str() : nullptr, outBuf, false);
-			if (outBuf != nullptr)
+			if (reprap.UsingLinuxInterface())
 			{
-				outBuf->cat('\n');
+				reprap.GetFileInfoResponse(nullptr, outBuf, true);
 			}
-			result = (done) ? GCodeResult::ok : GCodeResult::notFinished;
+			else
 # endif
-		}
-		break;
+			{
+# if HAS_MASS_STORAGE
+				if (!LockFileSystem(gb))									// getting file info takes several calls and isn't reentrant
+				{
+					return false;
+				}
 
-	case 37:	// Simulation mode on/off, or simulate a whole file
-# if HAS_LINUX_INTERFACE
-		if (reprap.UsingLinuxInterface() && !gb.IsBinary())
-		{
-			reply.copy("M37 can be only started from the Linux interface");
-			result = GCodeResult::error;
-		}
-		else
+				String<MaxFilenameLength> filename;
+				gb.GetUnprecedentedString(filename.GetRef(), true);
+				const bool done = reprap.GetFileInfoResponse((filename.IsEmpty()) ? nullptr : filename.c_str(), outBuf, false);
+				if (outBuf != nullptr)
+				{
+					outBuf->cat('\n');
+				}
+				result = (done) ? GCodeResult::ok : GCodeResult::notFinished;
 # endif
-		{
-			bool seen = false;
-			String<MaxFilenameLength> simFileName;
+			}
+			break;
 
-			gb.TryGetPossiblyQuotedString('P', simFileName.GetRef(), seen);
-			if (seen)
+		case 37:	// Simulation mode on/off, or simulate a whole file
+# if HAS_LINUX_INTERFACE
+			if (reprap.UsingLinuxInterface() && !gb.IsBinary())
 			{
-				const bool updateFile = !gb.Seen('F') || gb.GetUIValue() == 1;
-				result = SimulateFile(gb, reply, simFileName.GetRef(), updateFile);
+				reply.copy("M37 can be only started from the Linux interface");
+				result = GCodeResult::error;
 			}
 			else
+# endif
 			{
-				uint32_t newSimulationMode;
-				gb.TryGetUIValue('S', newSimulationMode, seen);
+				bool seen = false;
+				String<MaxFilenameLength> simFileName;
+
+				gb.TryGetPossiblyQuotedString('P', simFileName.GetRef(), seen);
 				if (seen)
 				{
-					result = ChangeSimulationMode(gb, reply, newSimulationMode);
+					const bool updateFile = !gb.Seen('F') || gb.GetUIValue() == 1;
+					result = SimulateFile(gb, reply, simFileName.GetRef(), updateFile);
 				}
 				else
 				{
-					reply.printf("Simulation mode: %s, move time: %.1f sec, other time: %.1f sec",
-							(simulationMode != 0) ? "on" : "off", (double)reprap.GetMove().GetSimulationTime(), (double)simulationTime);
+					uint32_t newSimulationMode;
+					gb.TryGetUIValue('S', newSimulationMode, seen);
+					if (seen)
+					{
+						result = ChangeSimulationMode(gb, reply, newSimulationMode);
+					}
+					else
+					{
+						reply.printf("Simulation mode: %s, move time: %.1f sec, other time: %.1f sec",
+								(simulationMode != 0) ? "on" : "off", (double)reprap.GetMove().GetSimulationTime(), (double)simulationTime);
+					}
 				}
 			}
-		}
-		break;
+			break;
 #endif
 
 #if HAS_MASS_STORAGE
-	case 38: // Report SHA1 of file
-		if (!LockFileSystem(gb))								// getting file hash takes several calls and isn't reentrant
-		{
-			return false;
-		}
-		if (fileBeingHashed == nullptr)
-		{
-			// See if we can open the file and start hashing
-			String<MaxFilenameLength> filename;
-			if (gb.GetUnprecedentedString(filename.GetRef()))
+		case 38: // Report SHA1 of file
+			if (!LockFileSystem(gb))								// getting file hash takes several calls and isn't reentrant
 			{
+				return false;
+			}
+			if (fileBeingHashed == nullptr)
+			{
+				// See if we can open the file and start hashing
+				String<MaxFilenameLength> filename;
+				gb.GetUnprecedentedString(filename.GetRef());
 				if (StartHash(filename.c_str()))
 				{
 					// Hashing is now in progress...
@@ -1061,2710 +1052,2704 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 			}
 			else
 			{
-				reply.copy("Filename expected");
-				result = GCodeResult::error;
+				// This can take some time. All the actual heavy lifting is in dedicated methods
+				result = AdvanceHash(reply);
 			}
-		}
-		else
-		{
-			// This can take some time. All the actual heavy lifting is in dedicated methods
-			result = AdvanceHash(reply);
-		}
-		break;
+			break;
 
-	case 39:	// Return SD card info
-		{
-			uint32_t slot = 0;
-			bool dummy;
-			gb.TryGetUIValue('P', slot, dummy);
-			int32_t format = 0;
-			gb.TryGetIValue('S', format, dummy);
-			uint64_t capacity, freeSpace;
-			uint32_t speed;
-			uint32_t clSize;
-			const MassStorage::InfoResult res = MassStorage::GetCardInfo(slot, capacity, freeSpace, speed, clSize);
-			if (format == 2)
-			{
-				reply.printf("{\"SDinfo\":{\"slot\":%" PRIu32 ",\"present\":", slot);
-				if (res == MassStorage::InfoResult::ok)
-				{
-					reply.catf("1,\"capacity\":%" PRIu64 ",\"free\":%" PRIu64 ",\"speed\":%" PRIu32 ",\"clsize\":%" PRIu32 "}}", capacity, freeSpace, speed, clSize);
-				}
-				else
-				{
-					reply.cat("0}}");
-				}
-			}
-			else
+		case 39:	// Return SD card info
 			{
-				switch(res)
-				{
-				case MassStorage::InfoResult::badSlot:
-				default:
-					reply.printf("Bad SD slot number: %" PRIu32, slot);
-					result = GCodeResult::error;
-					break;
-
-				case MassStorage::InfoResult::noCard:
-					reply.printf("No SD card mounted in slot %" PRIu32, slot);
-					result = GCodeResult::error;
-					break;
-
-				case MassStorage::InfoResult::ok:
-					reply.printf("SD card in slot %" PRIu32 ": capacity %.2fGb, free space %.2fGb, speed %.2fMBytes/sec, cluster size ",
-									slot, (double)capacity/(1000*1000*1000), (double)freeSpace/(1000*1000*1000), (double)speed/(1000*1000));
-					if (clSize < 1024)
+				uint32_t slot = 0;
+				bool dummy;
+				gb.TryGetUIValue('P', slot, dummy);
+				int32_t format = 0;
+				gb.TryGetIValue('S', format, dummy);
+				uint64_t capacity, freeSpace;
+				uint32_t speed;
+				uint32_t clSize;
+				const MassStorage::InfoResult res = MassStorage::GetCardInfo(slot, capacity, freeSpace, speed, clSize);
+				if (format == 2)
+				{
+					reply.printf("{\"SDinfo\":{\"slot\":%" PRIu32 ",\"present\":", slot);
+					if (res == MassStorage::InfoResult::ok)
 					{
-						reply.catf("%" PRIu32 " bytes", clSize);
+						reply.catf("1,\"capacity\":%" PRIu64 ",\"free\":%" PRIu64 ",\"speed\":%" PRIu32 ",\"clsize\":%" PRIu32 "}}", capacity, freeSpace, speed, clSize);
 					}
 					else
 					{
-						reply.catf("%" PRIu32 "kb", clSize/1024);
+						reply.cat("0}}");
+					}
+				}
+				else
+				{
+					switch(res)
+					{
+					case MassStorage::InfoResult::badSlot:
+					default:
+						reply.printf("Bad SD slot number: %" PRIu32, slot);
+						result = GCodeResult::error;
+						break;
+
+					case MassStorage::InfoResult::noCard:
+						reply.printf("No SD card mounted in slot %" PRIu32, slot);
+						result = GCodeResult::error;
+						break;
+
+					case MassStorage::InfoResult::ok:
+						reply.printf("SD card in slot %" PRIu32 ": capacity %.2fGb, free space %.2fGb, speed %.2fMBytes/sec, cluster size ",
+										slot, (double)capacity/(1000*1000*1000), (double)freeSpace/(1000*1000*1000), (double)speed/(1000*1000));
+						if (clSize < 1024)
+						{
+							reply.catf("%" PRIu32 " bytes", clSize);
+						}
+						else
+						{
+							reply.catf("%" PRIu32 "kb", clSize/1024);
+						}
+						break;
 					}
-					break;
 				}
 			}
-		}
-		break;
+			break;
 #endif
 
-	case 42:	// Turn an output pin on or off
-		if (gb.Seen('P'))
-		{
-			const uint32_t gpioPortNumber = gb.GetUIValue();
-			if (gpioPortNumber < MaxGpioPorts)
+		case 42:	// Turn an output pin on or off
+			if (gb.Seen('P'))
 			{
-				if (gb.Seen('S'))
+				const uint32_t gpioPortNumber = gb.GetUIValue();
+				if (gpioPortNumber < MaxGpioPorts)
 				{
-					const float val = gb.GetPwmValue();
-					const GpOutputPort& gpPort = platform.GetGpioPort(gpioPortNumber);
-#if SUPPORT_CAN_EXPANSION
-					if (gpPort.boardAddress != CanId::MasterAddress)
+					if (gb.Seen('S'))
 					{
-						result = CanInterface::WriteGpio(gpPort.boardAddress, gpioPortNumber, val, false, reply);
-						break;
-					}
+						const float val = gb.GetPwmValue();
+						const GpOutputPort& gpPort = platform.GetGpioPort(gpioPortNumber);
+#if SUPPORT_CAN_EXPANSION
+						if (gpPort.boardAddress != CanId::MasterAddress)
+						{
+							result = CanInterface::WriteGpio(gpPort.boardAddress, gpioPortNumber, val, false, reply);
+							break;
+						}
 #endif
-					gpPort.port.WriteAnalog(val);
+						gpPort.port.WriteAnalog(val);
+					}
+				}
+				else
+				{
+					reply.printf("Invalid gpio port %" PRIu32, gpioPortNumber);
+					result = GCodeResult::error;
 				}
 			}
-			else
+			break;
+
+		case 80:	// ATX power on
+			atxPowerControlled = true;
+			platform.AtxPowerOn();
+			break;
+
+		case 81:	// ATX power off
+			atxPowerControlled = true;
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				reply.printf("Invalid gpio port %" PRIu32, gpioPortNumber);
-				result = GCodeResult::error;
+				return false;
 			}
-		}
-		break;
-
-	case 80:	// ATX power on
-		atxPowerControlled = true;
-		platform.AtxPowerOn();
-		break;
+			platform.AtxPowerOff(gb.Seen('S') && gb.GetUIValue() != 0);
+			break;
 
-	case 81:	// ATX power off
-		atxPowerControlled = true;
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		platform.AtxPowerOff(gb.Seen('S') && gb.GetUIValue() != 0);
-		break;
+		case 82:	// Use absolute extruder positioning
+			gb.MachineState().drivesRelative = false;
+			break;
 
-	case 82:	// Use absolute extruder positioning
-		gb.MachineState().drivesRelative = false;
-		break;
+		case 83:	// Use relative extruder positioning
+			gb.MachineState().drivesRelative = true;
+			break;
 
-	case 83:	// Use relative extruder positioning
-		gb.MachineState().drivesRelative = true;
-		break;
+			// For case 84, see case 18
 
-		// For case 84, see case 18
+		case 85: // Set inactive time
+			break;
 
-	case 85: // Set inactive time
-		break;
+		case 92: // Set/report steps/mm for some axes
+			{
+				bool seenUstepMultiplier = false;
+				uint32_t ustepMultiplier = 0;
+				gb.TryGetUIValue('S', ustepMultiplier, seenUstepMultiplier);
 
-	case 92: // Set/report steps/mm for some axes
-		{
-			bool seenUstepMultiplier = false;
-			uint32_t ustepMultiplier = 0;
-			gb.TryGetUIValue('S', ustepMultiplier, seenUstepMultiplier);
+				bool seen = false;
+				for (size_t axis = 0; axis < numTotalAxes; axis++)
+				{
+					if (gb.Seen(axisLetters[axis]))
+					{
+						if (!LockMovementAndWaitForStandstill(gb))
+						{
+							return false;
+						}
+						platform.SetDriveStepsPerUnit(axis, gb.GetFValue(), ustepMultiplier);
+						seen = true;
+					}
+				}
 
-			bool seen = false;
-			for (size_t axis = 0; axis < numTotalAxes; axis++)
-			{
-				if (gb.Seen(axisLetters[axis]))
+				if (gb.Seen(extrudeLetter))
 				{
 					if (!LockMovementAndWaitForStandstill(gb))
 					{
 						return false;
 					}
-					platform.SetDriveStepsPerUnit(axis, gb.GetFValue(), ustepMultiplier);
 					seen = true;
+					float eVals[MaxExtruders];
+					size_t eCount = numExtruders;
+					gb.GetFloatArray(eVals, eCount, true);
+
+					// The user may not have as many extruders as we allow for, so just set the ones for which a value is provided
+					for (size_t e = 0; e < eCount; e++)
+					{
+						platform.SetDriveStepsPerUnit(ExtruderToLogicalDrive(e), eVals[e], ustepMultiplier);
+					}
 				}
-			}
 
-			if (gb.Seen(extrudeLetter))
-			{
-				if (!LockMovementAndWaitForStandstill(gb))
+				if (seen)
 				{
-					return false;
+					// On a delta, if we change the drive steps/mm then we need to recalculate the motor positions
+					reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
 				}
-				seen = true;
-				float eVals[MaxExtruders];
-				size_t eCount = numExtruders;
-				gb.GetFloatArray(eVals, eCount, true);
-
-				// The user may not have as many extruders as we allow for, so just set the ones for which a value is provided
-				for (size_t e = 0; e < eCount; e++)
+				else
 				{
-					platform.SetDriveStepsPerUnit(ExtruderToLogicalDrive(e), eVals[e], ustepMultiplier);
+					reply.copy("Steps/mm: ");
+					for (size_t axis = 0; axis < numTotalAxes; ++axis)
+					{
+						reply.catf("%c: %.3f, ", axisLetters[axis], (double)platform.DriveStepsPerUnit(axis));
+					}
+					reply.catf("E:");
+					char sep = ' ';
+					for (size_t extruder = 0; extruder < numExtruders; extruder++)
+					{
+						reply.catf("%c%.3f", sep, (double)platform.DriveStepsPerUnit(ExtruderToLogicalDrive(extruder)));
+						sep = ':';
+					}
 				}
 			}
+			break;
 
-			if (seen)
-			{
-				// On a delta, if we change the drive steps/mm then we need to recalculate the motor positions
-				reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
-			}
-			else
+		case 98: // Call Macro/Subprogram
+			if (gb.Seen('P'))
 			{
-				reply.copy("Steps/mm: ");
-				for (size_t axis = 0; axis < numTotalAxes; ++axis)
-				{
-					reply.catf("%c: %.3f, ", axisLetters[axis], (double)platform.DriveStepsPerUnit(axis));
-				}
-				reply.catf("E:");
-				char sep = ' ';
-				for (size_t extruder = 0; extruder < numExtruders; extruder++)
+#if HAS_LINUX_INTERFACE
+				if (reprap.UsingLinuxInterface())
 				{
-					reply.catf("%c%.3f", sep, (double)platform.DriveStepsPerUnit(ExtruderToLogicalDrive(extruder)));
-					sep = ':';
+					gb.SetState(GCodeState::doingUserMacro);
 				}
-			}
-		}
-		break;
-
-	case 98: // Call Macro/Subprogram
-		if (gb.Seen('P'))
-		{
-#if HAS_LINUX_INTERFACE
-			if (reprap.UsingLinuxInterface())
-			{
-				gb.SetState(GCodeState::doingUserMacro);
-			}
 #endif
-			String<MaxFilenameLength> filename;
-			gb.GetPossiblyQuotedString(filename.GetRef());
-			DoFileMacro(gb, filename.c_str(), true, code);
-		}
-		break;
-
-	case 99: // Return from Macro/Subprogram
-		FileMacroCyclesReturn(gb);
-		break;
+				String<MaxFilenameLength> filename;
+				gb.GetPossiblyQuotedString(filename.GetRef());
+				DoFileMacro(gb, filename.c_str(), true, code);
+			}
+			break;
 
-	case 101: // Un-retract, generated by S3D if "Include M101/101/103" is enabled
-		result = RetractFilament(gb, false);
-		break;
+		case 99: // Return from Macro/Subprogram
+			FileMacroCyclesReturn(gb);
+			break;
 
-	case 102:
-		// S3D generates this command just before each explicit retraction command if both explicit retraction and "Include M101/101/103" are enabled.
-		// Old versions of S3D also generate it once at the start of each print file if "Include M101/101/103" is enabled.
-		// It's not documented, so we just ignore it rather than generate an error message.
-		break;
+		case 101: // Un-retract, generated by S3D if "Include M101/101/103" is enabled
+			result = RetractFilament(gb, false);
+			break;
 
-	case 103: // Retract, generated by S3D if "Include M101/101/103" is enabled
-		result = RetractFilament(gb, true);
-		break;
+		case 102:
+			// S3D generates this command just before each explicit retraction command if both explicit retraction and "Include M101/101/103" are enabled.
+			// Old versions of S3D also generate it once at the start of each print file if "Include M101/101/103" is enabled.
+			// It's not documented, so we just ignore it rather than generate an error message.
+			break;
 
-	// For case 104, see 109
+		case 103: // Retract, generated by S3D if "Include M101/101/103" is enabled
+			result = RetractFilament(gb, true);
+			break;
 
-	case 105: // Get temperatures
-		GenerateTemperatureReport(reply);
-		break;
+		// For case 104, see 109
 
-	case 106: // Set/report fan values
-		{
-			bool seenFanNum = false;
-			uint32_t fanNum;
-			gb.TryGetUIValue('P', fanNum, seenFanNum);
-			bool processed;
+		case 105: // Get temperatures
+			GenerateTemperatureReport(reply);
+			break;
 
-			// 2018-08-09: only configure the fan if a fan number was given.
-			// This avoids M106 Snn failing if we have disabled Fan 0 and mapped the print cooling fan to a different fan.
-			if (seenFanNum)
+		case 106: // Set/report fan values
 			{
-				bool error = false;
-				processed = reprap.GetFansManager().ConfigureFan(code, fanNum, gb, reply, error);
-				result = GetGCodeResultFromError(error);
-			}
-			else
-			{
-				processed = false;
-			}
+				bool seenFanNum = false;
+				uint32_t fanNum;
+				gb.TryGetUIValue('P', fanNum, seenFanNum);
+				bool processed;
 
-			// ConfigureFan only processes S parameters if there were other parameters to process
-			if (!processed && gb.Seen('S'))
-			{
-				// Convert the parameter to an interval in 0.0..1.0 here so that we save the correct value in lastDefaultFanSpeed
-				const float f = gb.GetPwmValue();
+				// 2018-08-09: only configure the fan if a fan number was given.
+				// This avoids M106 Snn failing if we have disabled Fan 0 and mapped the print cooling fan to a different fan.
 				if (seenFanNum)
 				{
-					result = reprap.GetFansManager().SetFanValue(fanNum, f, reply);
-					if (IsMappedFan(fanNum))
-					{
-						lastDefaultFanSpeed = f;
-					}
+					bool error = false;
+					processed = reprap.GetFansManager().ConfigureFan(code, fanNum, gb, reply, error);
+					result = GetGCodeResultFromError(error);
 				}
 				else
 				{
-					// We are processing an M106 S### command with no other recognised parameters and we have a tool selected.
-					// Apply the fan speed setting to the fans in the fan mapping for the current tool.
-					SetMappedFanSpeed(f);
+					processed = false;
 				}
-			}
 
-			// ConfigureFan doesn't process R parameters
-			if (gb.Seen('R'))
-			{
-				// Restore fan speed to value when print was paused
-				if (seenFanNum)
+				// ConfigureFan only processes S parameters if there were other parameters to process
+				if (!processed && gb.Seen('S'))
 				{
-					result = reprap.GetFansManager().SetFanValue(fanNum, pausedFanSpeeds[fanNum], reply);
+					// Convert the parameter to an interval in 0.0..1.0 here so that we save the correct value in lastDefaultFanSpeed
+					const float f = gb.GetPwmValue();
+					if (seenFanNum)
+					{
+						result = reprap.GetFansManager().SetFanValue(fanNum, f, reply);
+						if (IsMappedFan(fanNum))
+						{
+							lastDefaultFanSpeed = f;
+						}
+					}
+					else
+					{
+						// We are processing an M106 S### command with no other recognised parameters and we have a tool selected.
+						// Apply the fan speed setting to the fans in the fan mapping for the current tool.
+						SetMappedFanSpeed(f);
+					}
 				}
-				else
+
+				// ConfigureFan doesn't process R parameters
+				if (gb.Seen('R'))
 				{
-					SetMappedFanSpeed(pausedDefaultFanSpeed);
+					// Restore fan speed to value when print was paused
+					if (seenFanNum)
+					{
+						result = reprap.GetFansManager().SetFanValue(fanNum, pausedFanSpeeds[fanNum], reply);
+					}
+					else
+					{
+						SetMappedFanSpeed(pausedDefaultFanSpeed);
+					}
 				}
 			}
-		}
-		break;
-
-	case 107: // Fan off - deprecated
-		SetMappedFanSpeed(0.0);
-		break;
-
-	case 108: // Cancel waiting for temperature
-		if (isWaiting)
-		{
-			cancelWait = true;
-		}
-		break;
-
-	case 109: // Deprecated in RRF, but widely generated by slicers
-		if (   !LockMovementAndWaitForStandstill(gb)		// wait until movement has finished
-			|| !IsCodeQueueIdle()							// also wait until deferred command queue has caught up to avoid out-of-order execution
-		   )
-		{
-			return false;
-		}
-		UnlockMovement(gb);									// allow babystepping and pausing while heating
-
-		// no break
-	case 104:
-		// New behaviour from 1.20beta12:
-		// M109 Snnn
-		// - If no tools are active, set Tool 0 to active
-		// - Set active tool's active and standby temperatures to Snnn
-		//
-		// M109 Tnnn Snnn
-		// - If no tools are active, set Tnnn to active
-		// - If another tool is active but Tnnn is off, set Tnnn to standby
-		// - Set Tnnn's active and standby temperatures to Snnn
-		// M104 does the same but doesn't ever select a tool
-		{
-			// Get the temperature to set
-			float temperature;
-			if (gb.Seen('R'))
-			{
-				gb.MachineState().waitWhileCooling = true;
-				temperature = gb.GetFValue();
-			}
-			else if (gb.Seen('S'))
-			{
-				gb.MachineState().waitWhileCooling = false;
-				temperature = gb.GetFValue();
-			}
-			else
-			{
-				break;		// no target temperature given
-			}
+			break;
 
-			// Find the tool that the command applies to.
-			// This is the tool specified in the T parameter, else the current tool if there is one, else the default tool
-			Tool *applicableTool;
-			if (gb.Seen('T'))
-			{
-				int toolNumber = gb.GetIValue();
-				toolNumber += gb.GetToolNumberAdjust();
-				applicableTool = reprap.GetTool(toolNumber);
-			}
-			else
-			{
-				applicableTool = reprap.GetCurrentOrDefaultTool();
-			}
+		case 107: // Fan off - deprecated
+			SetMappedFanSpeed(0.0);
+			break;
 
-			// Check that we have a tool
-			if (applicableTool == nullptr)
+		case 108: // Cancel waiting for temperature
+			if (isWaiting)
 			{
-				reply.copy("Invalid tool number");
-				result = GCodeResult::error;
-				break;
+				cancelWait = true;
 			}
+			break;
 
-			// Set the heater temperatures for that tool. We set the standby temperatures as well as the active ones,
-			// because any slicer that uses M109 doesn't understand that there are separate active and standby temperatures.
-			if (simulationMode == 0)
+		case 109: // Deprecated in RRF, but widely generated by slicers
+			if (   !LockMovementAndWaitForStandstill(gb)		// wait until movement has finished
+				|| !IsCodeQueueIdle()							// also wait until deferred command queue has caught up to avoid out-of-order execution
+			   )
 			{
-				SetToolHeaters(applicableTool, temperature, true);
+				return false;
 			}
-
-			Tool * const currentTool = reprap.GetCurrentTool();
-			if (code == 109 && currentTool == nullptr)
-			{
-				// Switch to the tool
-				if (!LockMovementAndWaitForStandstill(gb))
+			UnlockMovement(gb);									// allow babystepping and pausing while heating
+
+			// no break
+		case 104:
+			// New behaviour from 1.20beta12:
+			// M109 Snnn
+			// - If no tools are active, set Tool 0 to active
+			// - Set active tool's active and standby temperatures to Snnn
+			//
+			// M109 Tnnn Snnn
+			// - If no tools are active, set Tnnn to active
+			// - If another tool is active but Tnnn is off, set Tnnn to standby
+			// - Set Tnnn's active and standby temperatures to Snnn
+			// M104 does the same but doesn't ever select a tool
+			{
+				// Get the temperature to set
+				float temperature;
+				if (gb.Seen('R'))
 				{
-					return false;
+					gb.MachineState().waitWhileCooling = true;
+					temperature = gb.GetFValue();
+				}
+				else if (gb.Seen('S'))
+				{
+					gb.MachineState().waitWhileCooling = false;
+					temperature = gb.GetFValue();
+				}
+				else
+				{
+					break;		// no target temperature given
 				}
 
-				gb.MachineState().newToolNumber = applicableTool->Number();
-				gb.MachineState().toolChangeParam = (simulationMode != 0) ? 0 : DefaultToolChangeParam;
-				gb.SetState(GCodeState::m109ToolChange0);
-				result = GCodeResult::ok;
-			}
-			else
-			{
-				if (applicableTool == currentTool)
+				// Find the tool that the command applies to.
+				// This is the tool specified in the T parameter, else the current tool if there is one, else the default tool
+				Tool *applicableTool;
+				if (gb.Seen('T'))
 				{
-					// Even though the tool is selected, we may have turned it off e.g. when upgrading the WiFi firmware or following a heater fault that has been cleared.
-					// So make sure the tool heaters are on.
-					reprap.SelectTool(applicableTool->Number(), simulationMode != 0);
+					int toolNumber = gb.GetIValue();
+					toolNumber += gb.GetToolNumberAdjust();
+					applicableTool = reprap.GetTool(toolNumber);
 				}
 				else
 				{
-					// If we already have an active tool and we are setting temperatures for a different tool, set that tool's heaters to standby in case it is off
-					reprap.StandbyTool(applicableTool->Number(), simulationMode != 0);
+					applicableTool = reprap.GetCurrentOrDefaultTool();
+				}
+
+				// Check that we have a tool
+				if (applicableTool == nullptr)
+				{
+					reply.copy("Invalid tool number");
+					result = GCodeResult::error;
+					break;
+				}
+
+				// Set the heater temperatures for that tool. We set the standby temperatures as well as the active ones,
+				// because any slicer that uses M109 doesn't understand that there are separate active and standby temperatures.
+				if (simulationMode == 0)
+				{
+					SetToolHeaters(applicableTool, temperature, true);
 				}
 
-				if (code == 109 && simulationMode == 0)
+				Tool * const currentTool = reprap.GetCurrentTool();
+				if (code == 109 && currentTool == nullptr)
 				{
-					gb.SetState(GCodeState::m109WaitForTemperature);
+					// Switch to the tool
+					if (!LockMovementAndWaitForStandstill(gb))
+					{
+						return false;
+					}
+
+					gb.MachineState().newToolNumber = applicableTool->Number();
+					gb.MachineState().toolChangeParam = (simulationMode != 0) ? 0 : DefaultToolChangeParam;
+					gb.SetState(GCodeState::m109ToolChange0);
 					result = GCodeResult::ok;
 				}
+				else
+				{
+					if (applicableTool == currentTool)
+					{
+						// Even though the tool is selected, we may have turned it off e.g. when upgrading the WiFi firmware or following a heater fault that has been cleared.
+						// So make sure the tool heaters are on.
+						reprap.SelectTool(applicableTool->Number(), simulationMode != 0);
+					}
+					else
+					{
+						// If we already have an active tool and we are setting temperatures for a different tool, set that tool's heaters to standby in case it is off
+						reprap.StandbyTool(applicableTool->Number(), simulationMode != 0);
+					}
+
+					if (code == 109 && simulationMode == 0)
+					{
+						gb.SetState(GCodeState::m109WaitForTemperature);
+						result = GCodeResult::ok;
+					}
+				}
 			}
-		}
-		break;
+			break;
 
-	case 110: // Set line numbers - line numbers are dealt with in the GCodeBuffer class
-		break;
+		case 110: // Set line numbers - line numbers are dealt with in the GCodeBuffer class
+			break;
 
-	case 111: // Debug level
-		if (gb.Seen('S'))
-		{
-			const bool dbv = (gb.GetIValue() != 0);
-			if (gb.Seen('P'))
-			{
-				reprap.SetDebug(static_cast<Module>(gb.GetIValue()), dbv);
-				reprap.PrintDebug(gb.GetResponseMessageType());
-				return true;
-			}
-			if (dbv)
+		case 111: // Debug level
+			if (gb.Seen('S'))
 			{
-				// Repetier Host sends M111 with various S parameters to enable echo and similar features, which used to turn on all out debugging.
-				// But it's not useful to enable all debugging anyway. So we no longer allow debugging to be enabled without a P parameter.
-				reply.copy("Use P parameter to specify which module to debug");
+				const bool dbv = (gb.GetIValue() != 0);
+				if (gb.Seen('P'))
+				{
+					reprap.SetDebug(static_cast<Module>(gb.GetIValue()), dbv);
+					reprap.PrintDebug(gb.GetResponseMessageType());
+					return true;
+				}
+				if (dbv)
+				{
+					// Repetier Host sends M111 with various S parameters to enable echo and similar features, which used to turn on all out debugging.
+					// But it's not useful to enable all debugging anyway. So we no longer allow debugging to be enabled without a P parameter.
+					reply.copy("Use P parameter to specify which module to debug");
+				}
+				else
+				{
+					// M111 S0 still clears all debugging
+					reprap.ClearDebug();
+				}
 			}
 			else
 			{
-				// M111 S0 still clears all debugging
-				reprap.ClearDebug();
+				reprap.PrintDebug(gb.GetResponseMessageType());
+				return true;
 			}
-		}
-		else
-		{
-			reprap.PrintDebug(gb.GetResponseMessageType());
-			return true;
-		}
-		break;
+			break;
 
-	case 112: // Emergency stop - acted upon in Webserver, but also here in case it comes from USB etc.
-		DoEmergencyStop();
-		break;
+		case 112: // Emergency stop - acted upon in Webserver, but also here in case it comes from USB etc.
+			DoEmergencyStop();
+			break;
 
-	case 114:
-		GetCurrentCoordinates(reply);
-		break;
+		case 114:
+			GetCurrentCoordinates(reply);
+			break;
 
-	case 115: // Print firmware version or set hardware type
+		case 115: // Print firmware version or set hardware type
 #if defined(DUET_NG) || defined(DUET_06_85)
-		if (gb.Seen('P'))
-		{
-			if (runningConfigFile)
+			if (gb.Seen('P'))
 			{
-				platform.SetBoardType((BoardType)gb.GetIValue());
+				if (runningConfigFile)
+				{
+					platform.SetBoardType((BoardType)gb.GetIValue());
+				}
+				else
+				{
+					reply.copy("Board type can only be set within config.g");
+					result = GCodeResult::error;
+				}
 			}
 			else
-			{
-				reply.copy("Board type can only be set within config.g");
-				result = GCodeResult::error;
-			}
-		}
-		else
 #endif
-		{
-#if SUPPORT_CAN_EXPANSION
-			if (gb.Seen('B'))
 			{
-				const uint32_t board = gb.GetUIValue();
-				if (board != CanId::MasterAddress)
+#if SUPPORT_CAN_EXPANSION
+				if (gb.Seen('B'))
 				{
-					result = CanInterface::GetRemoteFirmwareDetails(board, gb, reply);
-					break;
+					const uint32_t board = gb.GetUIValue();
+					if (board != CanId::MasterAddress)
+					{
+						result = CanInterface::GetRemoteFirmwareDetails(board, gb, reply);
+						break;
+					}
 				}
-			}
 #endif
-			reply.printf("FIRMWARE_NAME: %s FIRMWARE_VERSION: %s ELECTRONICS: %s", FIRMWARE_NAME, VERSION, platform.GetElectronicsString());
+				reply.printf("FIRMWARE_NAME: %s FIRMWARE_VERSION: %s ELECTRONICS: %s", FIRMWARE_NAME, VERSION, platform.GetElectronicsString());
 #ifdef DUET_NG
-			const char* const expansionName = DuetExpansion::GetExpansionBoardName();
-			if (expansionName != nullptr)
-			{
-				reply.catf(" + %s", expansionName);
-			}
-			const char* const additionalExpansionName = DuetExpansion::GetAdditionalExpansionBoardName();
-			if (additionalExpansionName != nullptr)
-			{
-				reply.catf(" + %s", additionalExpansionName);
-			}
-#endif
-			reply.catf(" FIRMWARE_DATE: %s", DATE);
-		}
-		break;
-
-	case 116: // Wait for set temperatures
-		if (   !LockMovementAndWaitForStandstill(gb)		// wait until movement has finished
-			|| !IsCodeQueueIdle()							// also wait until deferred command queue has caught up to avoid out-of-order execution
-		   )
-		{
-			return false;
-		}
-
-		if (!cancelWait)
-		{
-			const float tolerance = (gb.Seen('S')) ? max<float>(gb.GetFValue(), 0.1) : TEMPERATURE_CLOSE_ENOUGH;
-			bool seen = false;
-			if (gb.Seen('P'))
-			{
-				// Wait for the heaters associated with the specified tool to be ready
-				int toolNumber = gb.GetIValue();
-				toolNumber += gb.GetToolNumberAdjust();
-				if (!ToolHeatersAtSetTemperatures(reprap.GetTool(toolNumber), true, tolerance))
+				const char* const expansionName = DuetExpansion::GetExpansionBoardName();
+				if (expansionName != nullptr)
 				{
-					CheckReportDue(gb, reply);				// check whether we need to send a temperature or status report
-					isWaiting = true;
-					return false;
+					reply.catf(" + %s", expansionName);
+				}
+				const char* const additionalExpansionName = DuetExpansion::GetAdditionalExpansionBoardName();
+				if (additionalExpansionName != nullptr)
+				{
+					reply.catf(" + %s", additionalExpansionName);
 				}
-				seen = true;
+#endif
+				reply.catf(" FIRMWARE_DATE: %s", DATE);
 			}
+			break;
 
-			if (gb.Seen('H'))
+		case 116: // Wait for set temperatures
+			if (   !LockMovementAndWaitForStandstill(gb)		// wait until movement has finished
+				|| !IsCodeQueueIdle()							// also wait until deferred command queue has caught up to avoid out-of-order execution
+			   )
 			{
-				// Wait for specified heaters to be ready
-				uint32_t heaters[MaxHeaters];
-				size_t heaterCount = MaxHeaters;
-				gb.GetUnsignedArray(heaters, heaterCount, false);
+				return false;
+			}
 
-				for (size_t i = 0; i < heaterCount; i++)
+			if (!cancelWait)
+			{
+				const float tolerance = (gb.Seen('S')) ? max<float>(gb.GetFValue(), 0.1) : TEMPERATURE_CLOSE_ENOUGH;
+				bool seen = false;
+				if (gb.Seen('P'))
 				{
-					if (!reprap.GetHeat().HeaterAtSetTemperature(heaters[i], true, tolerance))
+					// Wait for the heaters associated with the specified tool to be ready
+					int toolNumber = gb.GetIValue();
+					toolNumber += gb.GetToolNumberAdjust();
+					if (!ToolHeatersAtSetTemperatures(reprap.GetTool(toolNumber), true, tolerance))
 					{
-						CheckReportDue(gb, reply);			// check whether we need to send a temperature or status report
+						CheckReportDue(gb, reply);				// check whether we need to send a temperature or status report
 						isWaiting = true;
 						return false;
 					}
+					seen = true;
 				}
-				seen = true;
-			}
 
-			if (gb.Seen('C'))
-			{
-				// Wait for specified chamber(s) to be ready
-				uint32_t chamberIndices[MaxChamberHeaters];
-				size_t chamberCount = MaxChamberHeaters;
-				gb.GetUnsignedArray(chamberIndices, chamberCount, false);
-
-				if (chamberCount == 0)
+				if (gb.Seen('H'))
 				{
-					// If no values are specified, wait for all chamber heaters
-					for (size_t i = 0; i < MaxChamberHeaters; i++)
+					// Wait for specified heaters to be ready
+					uint32_t heaters[MaxHeaters];
+					size_t heaterCount = MaxHeaters;
+					gb.GetUnsignedArray(heaters, heaterCount, false);
+
+					for (size_t i = 0; i < heaterCount; i++)
 					{
-						const int8_t heater = reprap.GetHeat().GetChamberHeater(i);
-						if (heater >= 0 && !reprap.GetHeat().HeaterAtSetTemperature(heater, true, tolerance))
+						if (!reprap.GetHeat().HeaterAtSetTemperature(heaters[i], true, tolerance))
 						{
-							CheckReportDue(gb, reply);		// check whether we need to send a temperature or status report
+							CheckReportDue(gb, reply);			// check whether we need to send a temperature or status report
 							isWaiting = true;
 							return false;
 						}
 					}
+					seen = true;
 				}
-				else
+
+				if (gb.Seen('C'))
 				{
-					// Otherwise wait only for the specified chamber heaters
-					for (size_t i = 0; i < chamberCount; i++)
+					// Wait for specified chamber(s) to be ready
+					uint32_t chamberIndices[MaxChamberHeaters];
+					size_t chamberCount = MaxChamberHeaters;
+					gb.GetUnsignedArray(chamberIndices, chamberCount, false);
+
+					if (chamberCount == 0)
 					{
-						if (chamberIndices[i] >= 0 && chamberIndices[i] < MaxChamberHeaters)
+						// If no values are specified, wait for all chamber heaters
+						for (size_t i = 0; i < MaxChamberHeaters; i++)
 						{
-							const int8_t heater = reprap.GetHeat().GetChamberHeater(chamberIndices[i]);
+							const int8_t heater = reprap.GetHeat().GetChamberHeater(i);
 							if (heater >= 0 && !reprap.GetHeat().HeaterAtSetTemperature(heater, true, tolerance))
 							{
-								CheckReportDue(gb, reply);	// check whether we need to send a temperature or status report
+								CheckReportDue(gb, reply);		// check whether we need to send a temperature or status report
 								isWaiting = true;
 								return false;
 							}
 						}
 					}
+					else
+					{
+						// Otherwise wait only for the specified chamber heaters
+						for (size_t i = 0; i < chamberCount; i++)
+						{
+							if (chamberIndices[i] >= 0 && chamberIndices[i] < MaxChamberHeaters)
+							{
+								const int8_t heater = reprap.GetHeat().GetChamberHeater(chamberIndices[i]);
+								if (heater >= 0 && !reprap.GetHeat().HeaterAtSetTemperature(heater, true, tolerance))
+								{
+									CheckReportDue(gb, reply);	// check whether we need to send a temperature or status report
+									isWaiting = true;
+									return false;
+								}
+							}
+						}
+					}
+					seen = true;
 				}
-				seen = true;
-			}
 
-			// Wait for all heaters except chamber(s) to be ready
-			if (!seen && !reprap.GetHeat().AllHeatersAtSetTemperatures(true, tolerance))
-			{
-				CheckReportDue(gb, reply);					// check whether we need to send a temperature or status report
-				isWaiting = true;
-				return false;
+				// Wait for all heaters except chamber(s) to be ready
+				if (!seen && !reprap.GetHeat().AllHeatersAtSetTemperatures(true, tolerance))
+				{
+					CheckReportDue(gb, reply);					// check whether we need to send a temperature or status report
+					isWaiting = true;
+					return false;
+				}
 			}
-		}
-
-		// If we get here, there is nothing more to wait for
-		cancelWait = isWaiting = false;
-		break;
 
-	case 117:	// Display message
-		{
-			String<MediumStringLength> msg;
-			gb.GetUnprecedentedString(msg.GetRef());
-			reprap.SetMessage(msg.c_str());
-		}
-		break;
+			// If we get here, there is nothing more to wait for
+			cancelWait = isWaiting = false;
+			break;
 
-	case 118:	// Echo message on host
-		{
-			MessageType type = GenericMessage;
-			if (gb.Seen('P'))
+		case 117:	// Display message
 			{
-				const int32_t param = gb.GetIValue();
-				switch (param)
-				{
-				case 0:		// Generic (default)
-					// no need to set it twice
-					break;
-				case 1:		// USB
-					type = UsbMessage;
-					break;
-				case 2:		// UART port
-					type = DirectAuxMessage;
-					break;
-				case 3:		// HTTP
-					type = HttpMessage;
-					break;
-				case 4:		// Telnet
-					type = TelnetMessage;
-					break;
-				default:
-					reply.printf("Invalid message type: %" PRIi32, param);
-					result = GCodeResult::error;
-					break;
-				}
+				String<MediumStringLength> msg;
+				gb.GetUnprecedentedString(msg.GetRef());
+				reprap.SetMessage(msg.c_str());
 			}
+			break;
 
-			if (result != GCodeResult::error && gb.Seen(('S')))
+		case 118:	// Echo message on host
 			{
-				String<GCODE_LENGTH> message;
-				gb.GetQuotedString(message.GetRef());
-				if (type != HttpMessage)
+				MessageType type = GenericMessage;
+				if (gb.Seen('P'))
 				{
-					platform.Message((MessageType)(type | PushFlag), message.c_str());
-					platform.Message(type, "\n");
+					const int32_t param = gb.GetIValue();
+					switch (param)
+					{
+					case 0:		// Generic (default)
+						// no need to set it twice
+						break;
+					case 1:		// USB
+						type = UsbMessage;
+						break;
+					case 2:		// UART port
+						type = DirectAuxMessage;
+						break;
+					case 3:		// HTTP
+						type = HttpMessage;
+						break;
+					case 4:		// Telnet
+						type = TelnetMessage;
+						break;
+					default:
+						reply.printf("Invalid message type: %" PRIi32, param);
+						result = GCodeResult::error;
+						break;
+					}
 				}
-				else
+
+				if (result != GCodeResult::error && gb.Seen(('S')))
 				{
-					platform.Message(type, message.c_str());
+					String<GCODE_LENGTH> message;
+					gb.GetQuotedString(message.GetRef());
+					if (type != HttpMessage)
+					{
+						platform.Message((MessageType)(type | PushFlag), message.c_str());
+						platform.Message(type, "\n");
+					}
+					else
+					{
+						platform.Message(type, message.c_str());
+					}
 				}
 			}
-		}
-		break;
+			break;
 
-	case 119:
-		platform.GetEndstops().GetM119report(reply);
-		break;
+		case 119:
+			platform.GetEndstops().GetM119report(reply);
+			break;
 
-	case 120:
-		Push(gb, true);
-		break;
+		case 120:
+			Push(gb, true);
+			break;
 
-	case 121:
-		Pop(gb, true);
-		break;
+		case 121:
+			Pop(gb, true);
+			break;
 
-	case 122:
-		{
-			const unsigned int type = (gb.Seen('P')) ? gb.GetIValue() : 0;
-			const MessageType mt = (MessageType)(gb.GetResponseMessageType() | PushFlag);
-#if SUPPORT_CAN_EXPANSION
-			const uint32_t board = (gb.Seen('B')) ? gb.GetUIValue() : 0;
-			if (board != CanId::MasterAddress)
+		case 122:
 			{
-				result = CanInterface::RemoteDiagnostics(mt, board, type, gb, reply);
-				break;
-			}
+				const unsigned int type = (gb.Seen('P')) ? gb.GetIValue() : 0;
+				const MessageType mt = (MessageType)(gb.GetResponseMessageType() | PushFlag);
+#if SUPPORT_CAN_EXPANSION
+				const uint32_t board = (gb.Seen('B')) ? gb.GetUIValue() : 0;
+				if (board != CanId::MasterAddress)
+				{
+					result = CanInterface::RemoteDiagnostics(mt, board, type, gb, reply);
+					break;
+				}
 #endif
-			if (type == 0)
-			{
-				// Set the Push flag to combine multiple messages into a single OutputBuffer chain
-				reprap.Diagnostics(mt);
-			}
-			else
-			{
-				result = platform.DiagnosticTest(gb, reply, type);
+				if (type == 0)
+				{
+					// Set the Push flag to combine multiple messages into a single OutputBuffer chain
+					reprap.Diagnostics(mt);
+				}
+				else
+				{
+					result = platform.DiagnosticTest(gb, reply, type);
+				}
 			}
-		}
-		break;
-
-	// M135 (set PID sample interval) is no longer supported
+			break;
 
-	case 140: // Bed temperature
-	case 141: // Chamber temperature
-		{
-			Heat& heat = reprap.GetHeat();
-			bool seen = false;
+		// M135 (set PID sample interval) is no longer supported
 
-			// Check if the heater index is passed
-			int index = gb.Seen('P') ? gb.GetIValue() : 0;
-			if (index < 0 || index >= (int)((code == 140) ? MaxBedHeaters : MaxChamberHeaters))
+		case 140: // Bed temperature
+		case 141: // Chamber temperature
 			{
-				reply.printf("Invalid heater index '%d'", index);
-				result = GCodeResult::error;
-				break;
-			}
+				Heat& heat = reprap.GetHeat();
+				bool seen = false;
 
-			// See if the heater number is being set
-			if (gb.Seen('H'))
-			{
-				seen = true;
-				int heater = gb.GetIValue();
-				if (heater < 0)
+				// Check if the heater index is passed
+				int index = gb.Seen('P') ? gb.GetIValue() : 0;
+				if (index < 0 || index >= (int)((code == 140) ? MaxBedHeaters : MaxChamberHeaters))
 				{
-					heater = -1;
-				}
-				else if (heater >= (int)MaxHeaters)
-				{
-					reply.printf("Invalid heater number '%d'", heater);
+					reply.printf("Invalid heater index '%d'", index);
 					result = GCodeResult::error;
 					break;
 				}
 
-				if (code == 141)
+				// See if the heater number is being set
+				if (gb.Seen('H'))
 				{
-					heat.SetChamberHeater(index, heater);
+					seen = true;
+					int heater = gb.GetIValue();
+					if (heater < 0)
+					{
+						heater = -1;
+					}
+					else if (heater >= (int)MaxHeaters)
+					{
+						reply.printf("Invalid heater number '%d'", heater);
+						result = GCodeResult::error;
+						break;
+					}
+
+					if (code == 141)
+					{
+						heat.SetChamberHeater(index, heater);
+					}
+					else
+					{
+						heat.SetBedHeater(index, heater);
+					}
+					platform.UpdateConfiguredHeaters();
 				}
-				else
+
+				const int8_t currentHeater = (code == 141) ? heat.GetChamberHeater(index) : heat.GetBedHeater(index);
+				const char* const heaterName = (code == 141) ? "chamber" : "bed";
+
+				// Active temperature
+				if (gb.Seen('S'))
 				{
-					heat.SetBedHeater(index, heater);
+					seen = true;
+					const float temperature = gb.GetFValue();
+					if (currentHeater < 0)
+					{
+						if (temperature > 0.0)		// turning off a non-existent bed or chamber heater is not an error
+						{
+							reply.printf("No %s heater has been configured for slot %d", heaterName, index);
+							result = GCodeResult::error;
+						}
+					}
+					else
+					{
+						if (temperature < NEARLY_ABS_ZERO)
+						{
+							heat.SwitchOff(currentHeater);
+						}
+						else
+						{
+							heat.SetActiveTemperature(currentHeater, temperature);
+							result = heat.Activate(currentHeater, reply);
+						}
+					}
 				}
-				platform.UpdateConfiguredHeaters();
-			}
-
-			const int8_t currentHeater = (code == 141) ? heat.GetChamberHeater(index) : heat.GetBedHeater(index);
-			const char* const heaterName = (code == 141) ? "chamber" : "bed";
 
-			// Active temperature
-			if (gb.Seen('S'))
-			{
-				seen = true;
-				const float temperature = gb.GetFValue();
-				if (currentHeater < 0)
+				// Standby temperature
+				if (gb.Seen('R'))
 				{
-					if (temperature > 0.0)		// turning off a non-existent bed or chamber heater is not an error
+					seen = true;
+					if (currentHeater < 0)
 					{
 						reply.printf("No %s heater has been configured for slot %d", heaterName, index);
 						result = GCodeResult::error;
 					}
+					else
+					{
+						heat.SetStandbyTemperature(currentHeater, gb.GetFValue());
+					}
 				}
-				else
+
+				if (!seen)
 				{
-					if (temperature < NEARLY_ABS_ZERO)
+					if (currentHeater < 0)
 					{
-						heat.SwitchOff(currentHeater);
+						reply.printf("No %s heater has been configured for slot %d", heaterName, index);
 					}
 					else
 					{
-						heat.SetActiveTemperature(currentHeater, temperature);
-						result = heat.Activate(currentHeater, reply);
+						reply.printf("%c%s heater %d (slot %d) is currently at %.1f" DEGREE_SYMBOL "C",
+							toupper(heaterName[0]), heaterName + 1, currentHeater, index, (double)reprap.GetHeat().GetHeaterTemperature(currentHeater));
 					}
 				}
 			}
+			break;
 
-			// Standby temperature
-			if (gb.Seen('R'))
+		case 143: // Configure heater protection
+			result = reprap.GetHeat().SetHeaterProtection(gb, reply);
+			break;
+
+		case 144: // Set bed to standby, or to active if S1 parameter given
 			{
-				seen = true;
-				if (currentHeater < 0)
+				const unsigned int index = gb.Seen('P') ? gb.GetUIValue() : 0;
+				if (index >= MaxBedHeaters)
 				{
-					reply.printf("No %s heater has been configured for slot %d", heaterName, index);
+					reply.printf("Invalid bed heater index '%u'", index);
 					result = GCodeResult::error;
+					break;
 				}
-				else
-				{
-					heat.SetStandbyTemperature(currentHeater, gb.GetFValue());
-				}
-			}
 
-			if (!seen)
-			{
-				if (currentHeater < 0)
-				{
-					reply.printf("No %s heater has been configured for slot %d", heaterName, index);
-				}
-				else
+				const int8_t bedHeater = reprap.GetHeat().GetBedHeater(index);
+				if (bedHeater >= 0)
 				{
-					reply.printf("%c%s heater %d (slot %d) is currently at %.1f" DEGREE_SYMBOL "C",
-						toupper(heaterName[0]), heaterName + 1, currentHeater, index, (double)reprap.GetHeat().GetHeaterTemperature(currentHeater));
+					if (gb.Seen('S') && gb.GetIValue() == 1)
+					{
+						result = reprap.GetHeat().Activate(bedHeater, reply);
+					}
+					else
+					{
+						reprap.GetHeat().Standby(bedHeater, nullptr);
+					}
 				}
 			}
-		}
-		break;
+			break;
 
-	case 143: // Configure heater protection
-		result = reprap.GetHeat().SetHeaterProtection(gb, reply);
-		break;
+#if SUPPORT_DOTSTAR_LED
+		case 150:
+			result = DotStarLed::SetColours(gb, reply);
+			break;
+#endif
 
-	case 144: // Set bed to standby, or to active if S1 parameter given
-		{
-			const unsigned int index = gb.Seen('P') ? gb.GetUIValue() : 0;
-			if (index >= MaxBedHeaters)
+		case 190: // Set bed temperature and wait
+		case 191: // Set chamber temperature and wait
+			if (   !LockMovementAndWaitForStandstill(gb)		// wait until movement has finished
+				|| !IsCodeQueueIdle()							// also wait until deferred command queue has caught up to avoid out-of-order execution
+			   )
 			{
-				reply.printf("Invalid bed heater index '%u'", index);
-				result = GCodeResult::error;
-				break;
+				return false;
 			}
 
-			const int8_t bedHeater = reprap.GetHeat().GetBedHeater(index);
-			if (bedHeater >= 0)
+			UnlockMovement(gb);									// allow babystepping and pausing while heating
 			{
-				if (gb.Seen('S') && gb.GetIValue() == 1)
+				// Check if the heater index is passed
+				const uint32_t index = gb.Seen('P') ? gb.GetUIValue() : 0;
+				if (index >= ((code == 190) ? MaxBedHeaters : MaxChamberHeaters))
 				{
-					result = reprap.GetHeat().Activate(bedHeater, reply);
-				}
-				else
-				{
-					reprap.GetHeat().Standby(bedHeater, nullptr);
+					reply.printf("Invalid heater index '%" PRIu32 "'", index);
+					result = GCodeResult::error;
+					break;
 				}
-			}
-		}
-		break;
 
-#if SUPPORT_DOTSTAR_LED
-	case 150:
-		result = DotStarLed::SetColours(gb, reply);
-		break;
-#endif
+				const int8_t heater = (code == 191) ? reprap.GetHeat().GetChamberHeater(index) : reprap.GetHeat().GetBedHeater(index);
+				if (heater >= 0)
+				{
+					float temperature;
+					bool waitWhenCooling;
+					if (gb.Seen('R'))
+					{
+						waitWhenCooling = true;
+						temperature = gb.GetFValue();
+					}
+					else if (gb.Seen('S'))
+					{
+						waitWhenCooling = false;
+						temperature = gb.GetFValue();
+					}
+					else
+					{
+						break;		// no target temperature given
+					}
 
-	case 190: // Set bed temperature and wait
-	case 191: // Set chamber temperature and wait
-		if (   !LockMovementAndWaitForStandstill(gb)		// wait until movement has finished
-			|| !IsCodeQueueIdle()							// also wait until deferred command queue has caught up to avoid out-of-order execution
-		   )
-		{
-			return false;
-		}
+					reprap.GetHeat().SetActiveTemperature(heater, temperature);
+					result = reprap.GetHeat().Activate(heater, reply);
+					if (cancelWait || reprap.GetHeat().HeaterAtSetTemperature(heater, waitWhenCooling, TEMPERATURE_CLOSE_ENOUGH))
+					{
+						cancelWait = isWaiting = false;
+						break;
+					}
 
-		UnlockMovement(gb);									// allow babystepping and pausing while heating
-		{
-			// Check if the heater index is passed
-			const uint32_t index = gb.Seen('P') ? gb.GetUIValue() : 0;
-			if (index >= ((code == 190) ? MaxBedHeaters : MaxChamberHeaters))
-			{
-				reply.printf("Invalid heater index '%" PRIu32 "'", index);
-				result = GCodeResult::error;
-				break;
+					CheckReportDue(gb, reply);			// check whether we need to send a temperature or status report
+					isWaiting = true;
+					return false;
+				}
 			}
+			break;
 
-			const int8_t heater = (code == 191) ? reprap.GetHeat().GetChamberHeater(index) : reprap.GetHeat().GetBedHeater(index);
-			if (heater >= 0)
+		case 200: // Set filament diameter for volumetric extrusion and enable/disable volumetric extrusion
+			if (gb.Seen('D'))
 			{
-				float temperature;
-				bool waitWhenCooling;
-				if (gb.Seen('R'))
+				float diameters[MaxExtruders];
+				size_t len = MaxExtruders;
+				gb.GetFloatArray(diameters, len, true);
+				for (size_t i = 0; i < len; ++i)
 				{
-					waitWhenCooling = true;
-					temperature = gb.GetFValue();
+					const float d = diameters[i];
+					volumetricExtrusionFactors[i] = (d <= 0.0) ? 1.0 : 4.0/(fsquare(d) * Pi);
 				}
-				else if (gb.Seen('S'))
-				{
-					waitWhenCooling = false;
-					temperature = gb.GetFValue();
-				}
-				else
-				{
-					break;		// no target temperature given
-				}
-
-				reprap.GetHeat().SetActiveTemperature(heater, temperature);
-				result = reprap.GetHeat().Activate(heater, reply);
-				if (cancelWait || reprap.GetHeat().HeaterAtSetTemperature(heater, waitWhenCooling, TEMPERATURE_CLOSE_ENOUGH))
-				{
-					cancelWait = isWaiting = false;
-					break;
-				}
-
-				CheckReportDue(gb, reply);			// check whether we need to send a temperature or status report
-				isWaiting = true;
-				return false;
+				gb.MachineState().volumetricExtrusion = (diameters[0] > 0.0);
 			}
-		}
-		break;
-
-	case 200: // Set filament diameter for volumetric extrusion and enable/disable volumetric extrusion
-		if (gb.Seen('D'))
-		{
-			float diameters[MaxExtruders];
-			size_t len = MaxExtruders;
-			gb.GetFloatArray(diameters, len, true);
-			for (size_t i = 0; i < len; ++i)
+			else if (!gb.MachineState().volumetricExtrusion)
 			{
-				const float d = diameters[i];
-				volumetricExtrusionFactors[i] = (d <= 0.0) ? 1.0 : 4.0/(fsquare(d) * Pi);
+				reply.copy("Volumetric extrusion is disabled for this input source");
 			}
-			gb.MachineState().volumetricExtrusion = (diameters[0] > 0.0);
-		}
-		else if (!gb.MachineState().volumetricExtrusion)
-		{
-			reply.copy("Volumetric extrusion is disabled for this input source");
-		}
-		else
-		{
-			reply.copy("Filament diameters for volumetric extrusion:");
-			for (size_t i = 0; i < numExtruders; ++i)
+			else
 			{
-				const float vef = volumetricExtrusionFactors[i];
-				if (vef == 1.0)
-				{
-					reply.cat(" n/a");
-				}
-				else
+				reply.copy("Filament diameters for volumetric extrusion:");
+				for (size_t i = 0; i < numExtruders; ++i)
 				{
-					reply.catf(" %.03f", (double)(2.0/sqrtf(vef * Pi)));
+					const float vef = volumetricExtrusionFactors[i];
+					if (vef == 1.0)
+					{
+						reply.cat(" n/a");
+					}
+					else
+					{
+						reply.catf(" %.03f", (double)(2.0/sqrtf(vef * Pi)));
+					}
 				}
 			}
-		}
-		break;
+			break;
 
-	case 201: // Set/print axis accelerations
-		{
-			bool seen = false;
-			for (size_t axis = 0; axis < numTotalAxes; axis++)
+		case 201: // Set/print axis accelerations
 			{
-				if (gb.Seen(axisLetters[axis]))
+				bool seen = false;
+				for (size_t axis = 0; axis < numTotalAxes; axis++)
 				{
-					platform.SetAcceleration(axis, gb.GetDistance());
-					seen = true;
+					if (gb.Seen(axisLetters[axis]))
+					{
+						platform.SetAcceleration(axis, gb.GetDistance());
+						seen = true;
+					}
 				}
-			}
 
-			if (gb.Seen(extrudeLetter))
-			{
-				seen = true;
-				float eVals[MaxExtruders];
-				size_t eCount = numExtruders;
-				gb.GetFloatArray(eVals, eCount, true);
-				for (size_t e = 0; e < eCount; e++)
+				if (gb.Seen(extrudeLetter))
 				{
-					platform.SetAcceleration(ExtruderToLogicalDrive(e), gb.ConvertDistance(eVals[e]));
+					seen = true;
+					float eVals[MaxExtruders];
+					size_t eCount = numExtruders;
+					gb.GetFloatArray(eVals, eCount, true);
+					for (size_t e = 0; e < eCount; e++)
+					{
+						platform.SetAcceleration(ExtruderToLogicalDrive(e), gb.ConvertDistance(eVals[e]));
+					}
 				}
-			}
 
-			if (!seen)
-			{
-				reply.printf("Accelerations (mm/sec^2): ");
-				for (size_t axis = 0; axis < numTotalAxes; ++axis)
-				{
-					reply.catf("%c: %.1f, ", axisLetters[axis], (double)platform.Acceleration(axis));
-				}
-				reply.cat("E:");
-				char sep = ' ';
-				for (size_t extruder = 0; extruder < numExtruders; extruder++)
+				if (!seen)
 				{
-					reply.catf("%c%.1f", sep, (double)platform.Acceleration(ExtruderToLogicalDrive(extruder)));
-					sep = ':';
+					reply.printf("Accelerations (mm/sec^2): ");
+					for (size_t axis = 0; axis < numTotalAxes; ++axis)
+					{
+						reply.catf("%c: %.1f, ", axisLetters[axis], (double)platform.Acceleration(axis));
+					}
+					reply.cat("E:");
+					char sep = ' ';
+					for (size_t extruder = 0; extruder < numExtruders; extruder++)
+					{
+						reply.catf("%c%.1f", sep, (double)platform.Acceleration(ExtruderToLogicalDrive(extruder)));
+						sep = ':';
+					}
 				}
 			}
-		}
-		break;
-
-	case 203: // Set/print minimum/maximum feedrates
-		{
-			bool seen = false;
+			break;
 
-			// Do the minimum first, because we constrain the maximum rates to be no lower than it
-			if (gb.Seen('I'))
+		case 203: // Set/print minimum/maximum feedrates
 			{
-				seen = true;
-				platform.SetMinMovementSpeed(gb.GetDistance() * SecondsToMinutes);
-			}
+				bool seen = false;
 
-			for (size_t axis = 0; axis < numTotalAxes; ++axis)
-			{
-				if (gb.Seen(axisLetters[axis]))
+				// Do the minimum first, because we constrain the maximum rates to be no lower than it
+				if (gb.Seen('I'))
 				{
 					seen = true;
-					platform.SetMaxFeedrate(axis, gb.GetDistance() * SecondsToMinutes);
+					platform.SetMinMovementSpeed(gb.GetDistance() * SecondsToMinutes);
 				}
-			}
 
-			if (gb.Seen(extrudeLetter))
-			{
-				seen = true;
-				float eVals[MaxExtruders];
-				size_t eCount = numExtruders;
-				gb.GetFloatArray(eVals, eCount, true);
-				for (size_t e = 0; e < eCount; e++)
+				for (size_t axis = 0; axis < numTotalAxes; ++axis)
 				{
-					platform.SetMaxFeedrate(ExtruderToLogicalDrive(e), gb.ConvertDistance(eVals[e]) * SecondsToMinutes);
+					if (gb.Seen(axisLetters[axis]))
+					{
+						seen = true;
+						platform.SetMaxFeedrate(axis, gb.GetDistance() * SecondsToMinutes);
+					}
 				}
-			}
 
-			if (!seen)
-			{
-				reply.copy("Max speeds (mm/sec): ");
-				for (size_t axis = 0; axis < numTotalAxes; ++axis)
+				if (gb.Seen(extrudeLetter))
 				{
-					reply.catf("%c: %.1f, ", axisLetters[axis], (double)platform.MaxFeedrate(axis));
+					seen = true;
+					float eVals[MaxExtruders];
+					size_t eCount = numExtruders;
+					gb.GetFloatArray(eVals, eCount, true);
+					for (size_t e = 0; e < eCount; e++)
+					{
+						platform.SetMaxFeedrate(ExtruderToLogicalDrive(e), gb.ConvertDistance(eVals[e]) * SecondsToMinutes);
+					}
 				}
-				reply.cat("E:");
-				char sep = ' ';
-				for (size_t extruder = 0; extruder < numExtruders; extruder++)
+
+				if (!seen)
 				{
-					reply.catf("%c%.1f", sep, (double)platform.MaxFeedrate(ExtruderToLogicalDrive(extruder)));
-					sep = ':';
+					reply.copy("Max speeds (mm/sec): ");
+					for (size_t axis = 0; axis < numTotalAxes; ++axis)
+					{
+						reply.catf("%c: %.1f, ", axisLetters[axis], (double)platform.MaxFeedrate(axis));
+					}
+					reply.cat("E:");
+					char sep = ' ';
+					for (size_t extruder = 0; extruder < numExtruders; extruder++)
+					{
+						reply.catf("%c%.1f", sep, (double)platform.MaxFeedrate(ExtruderToLogicalDrive(extruder)));
+						sep = ':';
+					}
+					reply.catf(", min. speed %.2f", (double)platform.MinMovementSpeed());
 				}
-				reply.catf(", min. speed %.2f", (double)platform.MinMovementSpeed());
 			}
-		}
-		break;
+			break;
 
-	case 204: // Set max travel and printing accelerations
-		result = reprap.GetMove().ConfigureAccelerations(gb, reply);
-		break;
+		case 204: // Set max travel and printing accelerations
+			result = reprap.GetMove().ConfigureAccelerations(gb, reply);
+			break;
 
-	// For case 205 see case 566
+		// For case 205 see case 566
 
-	case 206: // Offset axes
-		result = OffsetAxes(gb, reply);
-		break;
+		case 206: // Offset axes
+			result = OffsetAxes(gb, reply);
+			break;
 
-	case 207: // Set firmware retraction details
-		{
-			bool seen = false;
-			if (gb.Seen('S'))
-			{
-				retractLength = max<float>(gb.GetFValue(), 0.0);
-				seen = true;
-			}
-			if (gb.Seen('R'))	// must do this one after 'S'
+		case 207: // Set firmware retraction details
 			{
-				retractExtra = max<float>(gb.GetFValue(), -retractLength);
-				seen = true;
-			}
-			if (gb.Seen('F'))
-			{
-				unRetractSpeed = retractSpeed = max<float>(gb.GetFValue(), 60.0) * SecondsToMinutes;
-				seen = true;
-			}
-			if (gb.Seen('T'))	// must do this one after 'F'
-			{
-				unRetractSpeed = max<float>(gb.GetFValue(), 60.0) * SecondsToMinutes;
-				seen = true;
-			}
-			if (gb.Seen('Z'))
-			{
-				retractHop = max<float>(gb.GetFValue(), 0.0);
-				seen = true;
-			}
-			if (!seen)
-			{
-				reply.printf("Retraction/un-retraction settings: length %.2f/%.2fmm, speed %d/%dmm/min, Z hop %.2fmm",
-					(double)retractLength, (double)(retractLength + retractExtra), (int)(retractSpeed * MinutesToSeconds), (int)(unRetractSpeed * MinutesToSeconds), (double)retractHop);
+				bool seen = false;
+				if (gb.Seen('S'))
+				{
+					retractLength = max<float>(gb.GetFValue(), 0.0);
+					seen = true;
+				}
+				if (gb.Seen('R'))	// must do this one after 'S'
+				{
+					retractExtra = max<float>(gb.GetFValue(), -retractLength);
+					seen = true;
+				}
+				if (gb.Seen('F'))
+				{
+					unRetractSpeed = retractSpeed = max<float>(gb.GetFValue(), 60.0) * SecondsToMinutes;
+					seen = true;
+				}
+				if (gb.Seen('T'))	// must do this one after 'F'
+				{
+					unRetractSpeed = max<float>(gb.GetFValue(), 60.0) * SecondsToMinutes;
+					seen = true;
+				}
+				if (gb.Seen('Z'))
+				{
+					retractHop = max<float>(gb.GetFValue(), 0.0);
+					seen = true;
+				}
+				if (!seen)
+				{
+					reply.printf("Retraction/un-retraction settings: length %.2f/%.2fmm, speed %d/%dmm/min, Z hop %.2fmm",
+						(double)retractLength, (double)(retractLength + retractExtra), (int)(retractSpeed * MinutesToSeconds), (int)(unRetractSpeed * MinutesToSeconds), (double)retractHop);
+				}
 			}
-		}
-		break;
+			break;
 
-	case 208: // Set/print maximum axis lengths. If there is an S parameter with value 1 then we set the min value, else we set the max value.
-		{
-			bool setMin = (gb.Seen('S') ? (gb.GetIValue() == 1) : false);
-			bool seen = false;
-			for (size_t axis = 0; axis < numTotalAxes; axis++)
+		case 208: // Set/print maximum axis lengths. If there is an S parameter with value 1 then we set the min value, else we set the max value.
 			{
-				if (gb.Seen(axisLetters[axis]))
+				bool setMin = (gb.Seen('S') ? (gb.GetIValue() == 1) : false);
+				bool seen = false;
+				for (size_t axis = 0; axis < numTotalAxes; axis++)
 				{
-					seen = true;
-					float values[2];
-					size_t numValues = 2;
-					gb.GetFloatArray(values, numValues, false);
-					bool ok;
-					if (numValues == 2)
-					{
-						ok = values[1] > values[0];
-						if (ok)
+					if (gb.Seen(axisLetters[axis]))
+					{
+						seen = true;
+						float values[2];
+						size_t numValues = 2;
+						gb.GetFloatArray(values, numValues, false);
+						bool ok;
+						if (numValues == 2)
 						{
-							platform.SetAxisMinimum(axis, values[0], gb.MachineState().runningM501);
-							platform.SetAxisMaximum(axis, values[1], gb.MachineState().runningM501);
+							ok = values[1] > values[0];
+							if (ok)
+							{
+								platform.SetAxisMinimum(axis, values[0], gb.MachineState().runningM501);
+								platform.SetAxisMaximum(axis, values[1], gb.MachineState().runningM501);
+							}
 						}
-					}
-					else if (setMin)
-					{
-						ok = platform.AxisMaximum(axis) > values[0];
-						if (ok)
+						else if (setMin)
 						{
-							platform.SetAxisMinimum(axis, values[0], gb.MachineState().runningM501);
+							ok = platform.AxisMaximum(axis) > values[0];
+							if (ok)
+							{
+								platform.SetAxisMinimum(axis, values[0], gb.MachineState().runningM501);
+							}
 						}
-					}
-					else
-					{
-						ok = values[0] > platform.AxisMinimum(axis);
-						if (ok)
+						else
 						{
-							platform.SetAxisMaximum(axis, values[0], gb.MachineState().runningM501);
+							ok = values[0] > platform.AxisMinimum(axis);
+							if (ok)
+							{
+								platform.SetAxisMaximum(axis, values[0], gb.MachineState().runningM501);
+							}
 						}
-					}
 
-					if (!ok)
-					{
-						reply.printf("%c axis maximum must be greater than minimum", axisLetters[axis]);
-						result = GCodeResult::error;
+						if (!ok)
+						{
+							reply.printf("%c axis maximum must be greater than minimum", axisLetters[axis]);
+							result = GCodeResult::error;
+						}
 					}
 				}
-			}
 
-			if (!seen)
-			{
-				reply.copy("Axis limit");
-				char sep = 's';
-				for (size_t axis = 0; axis < numTotalAxes; axis++)
+				if (!seen)
 				{
-					reply.catf("%c %c%.1f:%.1f", sep, axisLetters[axis], (double)platform.AxisMinimum(axis), (double)platform.AxisMaximum(axis));
-					sep = ',';
+					reply.copy("Axis limit");
+					char sep = 's';
+					for (size_t axis = 0; axis < numTotalAxes; axis++)
+					{
+						reply.catf("%c %c%.1f:%.1f", sep, axisLetters[axis], (double)platform.AxisMinimum(axis), (double)platform.AxisMaximum(axis));
+						sep = ',';
+					}
 				}
 			}
-		}
-		break;
+			break;
 
-	case 210: // Set/print homing feed rates
-		// This is no longer used, but for backwards compatibility we don't report an error
-		break;
+		case 210: // Set/print homing feed rates
+			// This is no longer used, but for backwards compatibility we don't report an error
+			break;
 
-	case 220:	// Set/report speed factor override percentage
-		if (gb.Seen('S'))
-		{
-			float newSpeedFactor = gb.GetFValue();
-			if (newSpeedFactor >= 1.0)
+		case 220:	// Set/report speed factor override percentage
+			if (gb.Seen('S'))
 			{
-				// Update the feed rate for ALL input sources, and all feed rates on the stack
-				const float speedFactorRatio = newSpeedFactor / speedFactor;
-				for (GCodeBuffer *gb2 : gcodeSources)
+				float newSpeedFactor = gb.GetFValue();
+				if (newSpeedFactor >= 1.0)
 				{
-					if (gb2 != nullptr)
+					// Update the feed rate for ALL input sources, and all feed rates on the stack
+					const float speedFactorRatio = newSpeedFactor / speedFactor;
+					for (GCodeBuffer *gb2 : gcodeSources)
 					{
-						GCodeMachineState *ms = &gb2->MachineState();
-						while (ms != nullptr)
+						if (gb2 != nullptr)
 						{
-							ms->feedRate *= speedFactorRatio;
-							ms = ms->previous;
+							GCodeMachineState *ms = &gb2->MachineState();
+							while (ms != nullptr)
+							{
+								ms->feedRate *= speedFactorRatio;
+								ms = ms->previous;
+							}
 						}
 					}
+					// If the last move hasn't gone yet, update its feed rate too if it is not a firmware retraction
+					if (segmentsLeft != 0 && !moveBuffer.isFirmwareRetraction)
+					{
+						moveBuffer.feedRate *= speedFactorRatio;
+					}
+					speedFactor = newSpeedFactor;
 				}
-				// If the last move hasn't gone yet, update its feed rate too if it is not a firmware retraction
-				if (segmentsLeft != 0 && !moveBuffer.isFirmwareRetraction)
+				else
 				{
-					moveBuffer.feedRate *= speedFactorRatio;
+					reply.copy("Invalid speed factor");
+					result = GCodeResult::error;
 				}
-				speedFactor = newSpeedFactor;
 			}
 			else
 			{
-				reply.copy("Invalid speed factor");
-				result = GCodeResult::error;
+				reply.printf("Speed factor override: %.1f%%", (double)speedFactor);
 			}
-		}
-		else
-		{
-			reply.printf("Speed factor override: %.1f%%", (double)speedFactor);
-		}
-		break;
-
-	case 221:	// Set/report extrusion factor override percentage
-		{
-			uint32_t extruder;
-			bool seenD = false;
-			gb.TryGetUIValue('D', extruder, seenD);
+			break;
 
-			const Tool * const ct = reprap.GetCurrentTool();
-			if (!seenD && ct == nullptr)
+		case 221:	// Set/report extrusion factor override percentage
 			{
-				reply.copy("No tool selected");
-				result = GCodeResult::error;
-			}
-			else if (gb.Seen('S'))	// S parameter sets the override percentage
-			{
-				const float extrusionFactor = gb.GetFValue() / 100.0;
-				if (extrusionFactor >= 0.0)
+				uint32_t extruder;
+				bool seenD = false;
+				gb.TryGetUIValue('D', extruder, seenD);
+
+				const Tool * const ct = reprap.GetCurrentTool();
+				if (!seenD && ct == nullptr)
+				{
+					reply.copy("No tool selected");
+					result = GCodeResult::error;
+				}
+				else if (gb.Seen('S'))	// S parameter sets the override percentage
 				{
-					if (seenD)
+					const float extrusionFactor = gb.GetFValue() / 100.0;
+					if (extrusionFactor >= 0.0)
 					{
-						if (extruder < numExtruders)
+						if (seenD)
 						{
-							ChangeExtrusionFactor(extruder, extrusionFactor);
+							if (extruder < numExtruders)
+							{
+								ChangeExtrusionFactor(extruder, extrusionFactor);
+							}
+						}
+						else
+						{
+							ct->IterateExtruders([this, extrusionFactor](unsigned int extruder) { ChangeExtrusionFactor(extruder, extrusionFactor); });
 						}
-					}
-					else
-					{
-						ct->IterateExtruders([this, extrusionFactor](unsigned int extruder) { ChangeExtrusionFactor(extruder, extrusionFactor); });
 					}
 				}
+				else if (seenD)
+				{
+					reply.printf("Extrusion factor override for extruder %" PRIu32 ": %.1f%%", extruder, (double)(extrusionFactors[extruder] * 100.0));
+				}
+				else
+				{
+					reply.copy("Extrusion factor(s) for current tool:");
+					ct->IterateExtruders([reply, this](unsigned int extruder) { reply.catf(" %.1f%%", (double)(extrusionFactors[extruder] * 100.0)); });
+				}
 			}
-			else if (seenD)
-			{
-				reply.printf("Extrusion factor override for extruder %" PRIu32 ": %.1f%%", extruder, (double)(extrusionFactors[extruder] * 100.0));
-			}
-			else
-			{
-				reply.copy("Extrusion factor(s) for current tool:");
-				ct->IterateExtruders([reply, this](unsigned int extruder) { reply.catf(" %.1f%%", (double)(extrusionFactors[extruder] * 100.0)); });
-			}
-		}
-		break;
+			break;
 
-		// For case 226, see case 25
+			// For case 226, see case 25
 
-	case 260:	// I2C send
-		result = SendI2c(gb, reply);
-		break;
+		case 260:	// I2C send
+			result = SendI2c(gb, reply);
+			break;
 
-	case 261:	// I2C send
-		result = ReceiveI2c(gb, reply);
-		break;
+		case 261:	// I2C send
+			result = ReceiveI2c(gb, reply);
+			break;
 
-	case 280:	// Servos
-		if (gb.Seen('P'))
-		{
-			const uint32_t gpioPortNumber = gb.GetUIValue();
-			if (gpioPortNumber < MaxGpioPorts)
+		case 280:	// Servos
+			if (gb.Seen('P'))
 			{
-				if (gb.Seen('S'))
+				const uint32_t gpioPortNumber = gb.GetUIValue();
+				if (gpioPortNumber < MaxGpioPorts)
 				{
-					float angleOrWidth = gb.GetFValue();
-					if (angleOrWidth < 0.0)
+					if (gb.Seen('S'))
 					{
-						// Disable the servo by setting the pulse width to zero
-						angleOrWidth = 0.0;
-					}
-					else if (angleOrWidth < MinServoPulseWidth)
-					{
-						// User gave an angle so convert it to a pulse width in microseconds
-						angleOrWidth = (min<float>(angleOrWidth, 180.0) * ((MaxServoPulseWidth - MinServoPulseWidth) / 180.0)) + MinServoPulseWidth;
-					}
-					else if (angleOrWidth > MaxServoPulseWidth)
-					{
-						angleOrWidth = MaxServoPulseWidth;
-					}
+						float angleOrWidth = gb.GetFValue();
+						if (angleOrWidth < 0.0)
+						{
+							// Disable the servo by setting the pulse width to zero
+							angleOrWidth = 0.0;
+						}
+						else if (angleOrWidth < MinServoPulseWidth)
+						{
+							// User gave an angle so convert it to a pulse width in microseconds
+							angleOrWidth = (min<float>(angleOrWidth, 180.0) * ((MaxServoPulseWidth - MinServoPulseWidth) / 180.0)) + MinServoPulseWidth;
+						}
+						else if (angleOrWidth > MaxServoPulseWidth)
+						{
+							angleOrWidth = MaxServoPulseWidth;
+						}
 
-					const GpOutputPort& gpPort = platform.GetGpioPort(gpioPortNumber);
-					const float pwm = angleOrWidth * (ServoRefreshFrequency/1e6);
+						const GpOutputPort& gpPort = platform.GetGpioPort(gpioPortNumber);
+						const float pwm = angleOrWidth * (ServoRefreshFrequency/1e6);
 #if SUPPORT_CAN_EXPANSION
-					if (gpPort.boardAddress != CanId::MasterAddress)
-					{
-						result = CanInterface::WriteGpio(gpPort.boardAddress, gpioPortNumber, pwm, true, reply);
-						break;
-					}
+						if (gpPort.boardAddress != CanId::MasterAddress)
+						{
+							result = CanInterface::WriteGpio(gpPort.boardAddress, gpioPortNumber, pwm, true, reply);
+							break;
+						}
 #endif
-					gpPort.port.WriteAnalog(pwm);
+						gpPort.port.WriteAnalog(pwm);
+					}
+					// We don't currently allow the servo position to be read back
+				}
+				else
+				{
+					reply.printf("Invalid gpio port %" PRIu32, gpioPortNumber);
+					result = GCodeResult::error;
 				}
-				// We don't currently allow the servo position to be read back
-			}
-			else
-			{
-				reply.printf("Invalid gpio port %" PRIu32, gpioPortNumber);
-				result = GCodeResult::error;
 			}
-		}
-		break;
+			break;
 
-	case 290:	// Baby stepping
-		{
-			const bool absolute = (gb.Seen('R') && gb.GetIValue() == 0);
-			bool seen = false;
-			float differences[MaxAxes];
-			for (size_t axis = 0; axis < numVisibleAxes; ++axis)
+		case 290:	// Baby stepping
 			{
-				if (gb.Seen(axisLetters[axis]) || (axis == 2 && gb.Seen('S')))			// S is a synonym for Z
+				const bool absolute = (gb.Seen('R') && gb.GetIValue() == 0);
+				bool seen = false;
+				float differences[MaxAxes];
+				for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 				{
-					seen = true;
-					const float fval = gb.GetFValue();
-					if (absolute)
+					if (gb.Seen(axisLetters[axis]) || (axis == 2 && gb.Seen('S')))			// S is a synonym for Z
 					{
-						differences[axis] = fval - GetTotalBabyStepOffset(axis);
+						seen = true;
+						const float fval = gb.GetFValue();
+						if (absolute)
+						{
+							differences[axis] = fval - GetTotalBabyStepOffset(axis);
+						}
+						else
+						{
+							differences[axis] = constrain<float>(fval, -1.0, 1.0);
+						}
 					}
 					else
 					{
-						differences[axis] = constrain<float>(fval, -1.0, 1.0);
+						differences[axis] = 0.0;
 					}
 				}
-				else
-				{
-					differences[axis] = 0.0;
-				}
-			}
 
-			if (seen)
-			{
-				if (!LockMovement(gb))
-				{
-					return false;
-				}
-
-				// Perform babystepping synchronously with moves
-				bool haveResidual = false;
-				for (size_t axis = 0; axis < numVisibleAxes; ++axis)
+				if (seen)
 				{
-					currentBabyStepOffsets[axis] += differences[axis];
-					const float amountPushed = reprap.GetMove().PushBabyStepping(axis, differences[axis]);
-					moveBuffer.initialCoords[axis] += amountPushed;
+					if (!LockMovement(gb))
+					{
+						return false;
+					}
 
-					// The following causes all the remaining baby stepping that we didn't manage to push to be added to the [remainder of the] currently-executing move, if there is one.
-					// This could result in an abrupt Z movement, however the move will be processed as normal so the jerk limit will be honoured.
-					moveBuffer.coords[axis] += differences[axis];
-					if (amountPushed != differences[axis])
+					// Perform babystepping synchronously with moves
+					bool haveResidual = false;
+					for (size_t axis = 0; axis < numVisibleAxes; ++axis)
 					{
-						haveResidual = true;
+						currentBabyStepOffsets[axis] += differences[axis];
+						const float amountPushed = reprap.GetMove().PushBabyStepping(axis, differences[axis]);
+						moveBuffer.initialCoords[axis] += amountPushed;
+
+						// The following causes all the remaining baby stepping that we didn't manage to push to be added to the [remainder of the] currently-executing move, if there is one.
+						// This could result in an abrupt Z movement, however the move will be processed as normal so the jerk limit will be honoured.
+						moveBuffer.coords[axis] += differences[axis];
+						if (amountPushed != differences[axis])
+						{
+							haveResidual = true;
+						}
 					}
-				}
 
-				if (haveResidual && segmentsLeft == 0 && reprap.GetMove().AllMovesAreFinished())
-				{
-					// The pipeline is empty, so execute the babystepping move immediately
-					SetMoveBufferDefaults();
-					moveBuffer.feedRate = DefaultFeedRate;
-					NewMoveAvailable(1);
+					if (haveResidual && segmentsLeft == 0 && reprap.GetMove().AllMovesAreFinished())
+					{
+						// The pipeline is empty, so execute the babystepping move immediately
+						SetMoveBufferDefaults();
+						moveBuffer.feedRate = DefaultFeedRate;
+						NewMoveAvailable(1);
+					}
 				}
-			}
-			else
-			{
-				reply.printf("Baby stepping offsets (mm):");
-				for (size_t axis = 0; axis < numVisibleAxes; ++axis)
+				else
 				{
-					reply.catf(" %c:%.3f", axisLetters[axis], (double)GetTotalBabyStepOffset(axis));
+					reply.printf("Baby stepping offsets (mm):");
+					for (size_t axis = 0; axis < numVisibleAxes; ++axis)
+					{
+						reply.catf(" %c:%.3f", axisLetters[axis], (double)GetTotalBabyStepOffset(axis));
+					}
 				}
 			}
-		}
-		break;
+			break;
 
-	case 291:	// Display message, optionally wait for acknowledgement
-		{
-			bool seen = false;
-			String<MaxMessageLength> title;
-			gb.TryGetQuotedString('R', title.GetRef(), seen);
+		case 291:	// Display message, optionally wait for acknowledgement
+			{
+				bool seen = false;
+				String<MaxMessageLength> title;
+				gb.TryGetQuotedString('R', title.GetRef(), seen);
 
-			String<MaxMessageLength> message;
-			gb.TryGetQuotedString('P', message.GetRef(), seen);
+				String<MaxMessageLength> message;
+				gb.TryGetQuotedString('P', message.GetRef(), seen);
 
-			if (seen)
-			{
-				int32_t sParam = 1;
-				gb.TryGetIValue('S', sParam, seen);
-				if (sParam < 0 || sParam > 3)
+				if (seen)
 				{
-					reply.copy("Invalid message box mode");
-					result = GCodeResult::error;
-					break;
-				}
+					int32_t sParam = 1;
+					gb.TryGetIValue('S', sParam, seen);
+					if (sParam < 0 || sParam > 3)
+					{
+						reply.copy("Invalid message box mode");
+						result = GCodeResult::error;
+						break;
+					}
 
-				float tParam;
-				if (sParam == 0 || sParam == 1)
-				{
-					tParam = DefaultMessageTimeout;
-					gb.TryGetFValue('T', tParam, seen);
-				}
-				else
-				{
-					tParam = 0.0;
-				}
+					float tParam;
+					if (sParam == 0 || sParam == 1)
+					{
+						tParam = DefaultMessageTimeout;
+						gb.TryGetFValue('T', tParam, seen);
+					}
+					else
+					{
+						tParam = 0.0;
+					}
 
-				if (sParam == 0 && tParam <= 0.0)
-				{
-					reply.copy("Attempt to create a message box that cannot be dismissed");
-					result = GCodeResult::error;
-					break;
-				}
+					if (sParam == 0 && tParam <= 0.0)
+					{
+						reply.copy("Attempt to create a message box that cannot be dismissed");
+						result = GCodeResult::error;
+						break;
+					}
 
-				AxesBitmap axisControls = 0;
-				for (size_t axis = 0; axis < numTotalAxes; axis++)
-				{
-					if (gb.Seen(axisLetters[axis]) && gb.GetIValue() > 0)
+					AxesBitmap axisControls = 0;
+					for (size_t axis = 0; axis < numTotalAxes; axis++)
 					{
-						SetBit(axisControls, axis);
+						if (gb.Seen(axisLetters[axis]) && gb.GetIValue() > 0)
+						{
+							SetBit(axisControls, axis);
+						}
 					}
-				}
 
-				// Don't lock the movement system, because if we do then only the channel that issues the M291 can move the axes
+					// Don't lock the movement system, because if we do then only the channel that issues the M291 can move the axes
 
-				// If we need to wait for an acknowledgement, save the state and set waiting
-				if ((sParam == 2 || sParam == 3) && Push(gb, true))					// stack the machine state including the file position
-				{
-					UnlockMovement(gb);												// allow movement so that e.g. an SD card print can call M291 and then DWC or PanelDue can be used to jog axes
-					gb.MachineState().CloseFile();									// stop reading from file
-					gb.MachineState().waitingForAcknowledgement = true;				// flag that we are waiting for acknowledgement
-				}
+					// If we need to wait for an acknowledgement, save the state and set waiting
+					if ((sParam == 2 || sParam == 3) && Push(gb, true))					// stack the machine state including the file position
+					{
+						UnlockMovement(gb);												// allow movement so that e.g. an SD card print can call M291 and then DWC or PanelDue can be used to jog axes
+						gb.MachineState().CloseFile();									// stop reading from file
+						gb.MachineState().waitingForAcknowledgement = true;				// flag that we are waiting for acknowledgement
+					}
 
-				// Display the message box on all relevant devices. Acknowledging any one of them clears them all.
-				const MessageType mt = GetMessageBoxDevice(gb);						// get the display device
-				platform.SendAlert(mt, message.c_str(), title.c_str(), (int)sParam, tParam, axisControls);
+					// Display the message box on all relevant devices. Acknowledging any one of them clears them all.
+					const MessageType mt = GetMessageBoxDevice(gb);						// get the display device
+					platform.SendAlert(mt, message.c_str(), title.c_str(), (int)sParam, tParam, axisControls);
+				}
 			}
-		}
-		break;
-
-	case 292:	// Acknowledge message
-		{
-			reprap.ClearAlert();
+			break;
 
-			const bool cancelled = (gb.Seen('P') && gb.GetIValue() == 1);
-			for (GCodeBuffer* targetGb : gcodeSources)
+		case 292:	// Acknowledge message
 			{
-				if (targetGb != nullptr)
+				reprap.ClearAlert();
+
+				const bool cancelled = (gb.Seen('P') && gb.GetIValue() == 1);
+				for (GCodeBuffer* targetGb : gcodeSources)
 				{
-					targetGb->MessageAcknowledged(cancelled);
+					if (targetGb != nullptr)
+					{
+						targetGb->MessageAcknowledged(cancelled);
+					}
 				}
 			}
-		}
-		break;
-
-	case 300:	// Beep
-		{
-			const unsigned int ms = (gb.Seen('P')) ? gb.GetUIValue() : 1000;			// time in milliseconds
-			const unsigned int freq = (gb.Seen('S')) ? gb.GetUIValue() : 4600;			// 4600Hz produces the loudest sound on a PanelDue
-			reprap.Beep(freq, ms);
-		}
-		break;
-
-	case 301: // Set/report hot end PID values
-		result = reprap.GetHeat().SetPidParameters(1, gb, reply);
-		break;
+			break;
 
-	case 302: // Allow, deny or report cold extrudes and configure minimum extrusion/retraction temps
-		{
-			bool seen = false;
-			if (gb.Seen('P'))
+		case 300:	// Beep
 			{
-				if (!LockMovementAndWaitForStandstill(gb))
-				{
-					return false;
-				}
-				seen = true;
-				reprap.GetHeat().AllowColdExtrude(gb.GetIValue() > 0);
+				const unsigned int ms = (gb.Seen('P')) ? gb.GetUIValue() : 1000;			// time in milliseconds
+				const unsigned int freq = (gb.Seen('S')) ? gb.GetUIValue() : 4600;			// 4600Hz produces the loudest sound on a PanelDue
+				reprap.Beep(freq, ms);
 			}
-			if (gb.Seen('S'))
+			break;
+
+		case 301: // Set/report hot end PID values
+			result = reprap.GetHeat().SetPidParameters(1, gb, reply);
+			break;
+
+		case 302: // Allow, deny or report cold extrudes and configure minimum extrusion/retraction temps
 			{
-				if (!LockMovementAndWaitForStandstill(gb))
+				bool seen = false;
+				if (gb.Seen('P'))
 				{
-					return false;
+					if (!LockMovementAndWaitForStandstill(gb))
+					{
+						return false;
+					}
+					seen = true;
+					reprap.GetHeat().AllowColdExtrude(gb.GetIValue() > 0);
 				}
-				seen = true;
-				reprap.GetHeat().SetExtrusionMinTemp(gb.GetFValue());
-			}
-			if (gb.Seen('R'))
-			{
-				if (!LockMovementAndWaitForStandstill(gb))
+				if (gb.Seen('S'))
 				{
-					return false;
+					if (!LockMovementAndWaitForStandstill(gb))
+					{
+						return false;
+					}
+					seen = true;
+					reprap.GetHeat().SetExtrusionMinTemp(gb.GetFValue());
 				}
-				seen = true;
-				reprap.GetHeat().SetRetractionMinTemp(gb.GetFValue());
-			}
-			if (!seen)
-			{
-				if (reprap.GetHeat().ColdExtrude())
+				if (gb.Seen('R'))
 				{
-					reply.copy("Cold extrusion is allowed (use M302 P0 to forbid it)");
+					if (!LockMovementAndWaitForStandstill(gb))
+					{
+						return false;
+					}
+					seen = true;
+					reprap.GetHeat().SetRetractionMinTemp(gb.GetFValue());
 				}
-				else
+				if (!seen)
 				{
-					reply.printf("Cold extrusion is forbidden (use M302 P1 to allow it), min. extrusion temperature %.1fC, min. retraction temperature %.1fC",
-									(double)reprap.GetHeat().GetExtrusionMinTemp(), (double)reprap.GetHeat().GetRetractionMinTemp());
+					if (reprap.GetHeat().ColdExtrude())
+					{
+						reply.copy("Cold extrusion is allowed (use M302 P0 to forbid it)");
+					}
+					else
+					{
+						reply.printf("Cold extrusion is forbidden (use M302 P1 to allow it), min. extrusion temperature %.1fC, min. retraction temperature %.1fC",
+										(double)reprap.GetHeat().GetExtrusionMinTemp(), (double)reprap.GetHeat().GetRetractionMinTemp());
+					}
 				}
 			}
-		}
-		break;
+			break;
 
-	case 303: // Run PID tuning
-		result = reprap.GetHeat().TuneHeater(gb, reply);
-		break;
+		case 303: // Run PID tuning
+			result = reprap.GetHeat().TuneHeater(gb, reply);
+			break;
 
-	case 304: // Set/report heated bed PID values
-		result = reprap.GetHeat().SetPidParameters(0, gb, reply);
-		break;
+		case 304: // Set/report heated bed PID values
+			result = reprap.GetHeat().SetPidParameters(0, gb, reply);
+			break;
 
-	case 305: // Set/report specific heater parameters
-		reply.copy("M305 has been replaced by M308 and M950 in RepRapFirmware 3");
-		result = GCodeResult::error;
-		break;
+		case 305: // Set/report specific heater parameters
+			reply.copy("M305 has been replaced by M308 and M950 in RepRapFirmware 3");
+			result = GCodeResult::error;
+			break;
 
-	case 307: // Set heater process model parameters
-		result = reprap.GetHeat().SetOrReportHeaterModel(gb, reply);
-		break;
+		case 307: // Set heater process model parameters
+			result = reprap.GetHeat().SetOrReportHeaterModel(gb, reply);
+			break;
 
-	case 308:
-		result = reprap.GetHeat().ConfigureSensor(gb, reply);
-		break;
+		case 308:
+			result = reprap.GetHeat().ConfigureSensor(gb, reply);
+			break;
 
-	case 350: // Set/report microstepping
-		{
-			bool interp = (gb.Seen('I') && gb.GetIValue() > 0);
-			bool seen = false;
-			for (size_t axis = 0; axis < numTotalAxes; axis++)
+		case 350: // Set/report microstepping
 			{
-				if (gb.Seen(axisLetters[axis]))
+				bool interp = (gb.Seen('I') && gb.GetIValue() > 0);
+				bool seen = false;
+				for (size_t axis = 0; axis < numTotalAxes; axis++)
+				{
+					if (gb.Seen(axisLetters[axis]))
+					{
+						if (!LockMovementAndWaitForStandstill(gb))
+						{
+							return false;
+						}
+						seen = true;
+						const unsigned int microsteps = gb.GetUIValue();
+						if (ChangeMicrostepping(axis, microsteps, interp, reply))
+						{
+							SetAxisNotHomed(axis);
+						}
+						else
+						{
+							result = GCodeResult::error;
+						}
+					}
+				}
+
+				if (gb.Seen(extrudeLetter))
 				{
 					if (!LockMovementAndWaitForStandstill(gb))
 					{
 						return false;
 					}
 					seen = true;
-					const unsigned int microsteps = gb.GetUIValue();
-					if (ChangeMicrostepping(axis, microsteps, interp, reply))
-					{
-						SetAxisNotHomed(axis);
-					}
-					else
+					uint32_t eVals[MaxExtruders];
+					size_t eCount = numExtruders;
+					gb.GetUnsignedArray(eVals, eCount, true);
+					for (size_t e = 0; e < eCount; e++)
 					{
-						result = GCodeResult::error;
+						if (!ChangeMicrostepping(ExtruderToLogicalDrive(e), eVals[e], interp, reply))
+						{
+							result = GCodeResult::error;
+						}
 					}
 				}
-			}
 
-			if (gb.Seen(extrudeLetter))
-			{
-				if (!LockMovementAndWaitForStandstill(gb))
-				{
-					return false;
-				}
-				seen = true;
-				uint32_t eVals[MaxExtruders];
-				size_t eCount = numExtruders;
-				gb.GetUnsignedArray(eVals, eCount, true);
-				for (size_t e = 0; e < eCount; e++)
+				if (!seen)
 				{
-					if (!ChangeMicrostepping(ExtruderToLogicalDrive(e), eVals[e], interp, reply))
+					reply.copy("Microstepping - ");
+					for (size_t axis = 0; axis < numTotalAxes; ++axis)
 					{
-						result = GCodeResult::error;
+						bool actualInterp;
+						const unsigned int microsteps = platform.GetMicrostepping(axis, actualInterp);
+						reply.catf("%c:%u%s, ", axisLetters[axis], microsteps, (actualInterp) ? "(on)" : "");
+					}
+					reply.cat("E");
+					for (size_t extruder = 0; extruder < numExtruders; extruder++)
+					{
+						bool actualInterp;
+						const unsigned int microsteps = platform.GetMicrostepping(ExtruderToLogicalDrive(extruder), actualInterp);
+						reply.catf(":%u%s", microsteps, (actualInterp) ? "(on)" : "");
 					}
 				}
 			}
+			break;
+
+#if HAS_MASS_STORAGE
+		case 374: // Save grid and height map to file
+			result = SaveHeightMap(gb, reply);
+			break;
+
+		case 375: // Load grid and height map from file and enable compensation
+			if (!LockMovementAndWaitForStandstill(gb))
+			{
+				return false;
+			}
+			result = LoadHeightMap(gb, reply);
+			break;
+#endif
 
-			if (!seen)
+		case 376: // Set taper height
 			{
-				reply.copy("Microstepping - ");
-				for (size_t axis = 0; axis < numTotalAxes; ++axis)
+				Move& move = reprap.GetMove();
+				if (gb.Seen('H'))
+				{
+					move.SetTaperHeight(gb.GetFValue());
+				}
+				else if (move.GetTaperHeight() > 0.0)
 				{
-					bool actualInterp;
-					const unsigned int microsteps = platform.GetMicrostepping(axis, actualInterp);
-					reply.catf("%c:%u%s, ", axisLetters[axis], microsteps, (actualInterp) ? "(on)" : "");
+					reply.printf("Bed compensation taper height is %.1fmm", (double)move.GetTaperHeight());
 				}
-				reply.cat("E");
-				for (size_t extruder = 0; extruder < numExtruders; extruder++)
+				else
 				{
-					bool actualInterp;
-					const unsigned int microsteps = platform.GetMicrostepping(ExtruderToLogicalDrive(extruder), actualInterp);
-					reply.catf(":%u%s", microsteps, (actualInterp) ? "(on)" : "");
+					reply.copy("Bed compensation is not tapered");
 				}
 			}
-		}
-		break;
-
-#if HAS_MASS_STORAGE
-	case 374: // Save grid and height map to file
-		result = SaveHeightMap(gb, reply);
-		break;
-
-	case 375: // Load grid and height map from file and enable compensation
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		result = LoadHeightMap(gb, reply);
-		break;
-#endif
+			break;
 
-	case 376: // Set taper height
-		{
-			Move& move = reprap.GetMove();
-			if (gb.Seen('H'))
+		case 400: // Wait for current moves to finish
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				move.SetTaperHeight(gb.GetFValue());
+				return false;
 			}
-			else if (move.GetTaperHeight() > 0.0)
+			break;
+
+		case 401: // Deploy Z probe
+			if (platform.GetCurrentZProbeType() != ZProbeType::none)
 			{
-				reply.printf("Bed compensation taper height is %.1fmm", (double)move.GetTaperHeight());
+				probeIsDeployed = true;
+				DoFileMacro(gb, DEPLOYPROBE_G, false, 401);
 			}
-			else
+			break;
+
+		case 402: // Retract Z probe
+			if (platform.GetCurrentZProbeType() != ZProbeType::none)
 			{
-				reply.copy("Bed compensation is not tapered");
+				probeIsDeployed = false;
+				DoFileMacro(gb, RETRACTPROBE_G, false, 402);
 			}
-		}
-		break;
-
-	case 400: // Wait for current moves to finish
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		break;
-
-	case 401: // Deploy Z probe
-		if (platform.GetCurrentZProbeType() != ZProbeType::none)
-		{
-			probeIsDeployed = true;
-			DoFileMacro(gb, DEPLOYPROBE_G, false, 401);
-		}
-		break;
+			break;
 
-	case 402: // Retract Z probe
-		if (platform.GetCurrentZProbeType() != ZProbeType::none)
-		{
-			probeIsDeployed = false;
-			DoFileMacro(gb, RETRACTPROBE_G, false, 402);
-		}
-		break;
+		case 404: // Filament width and nozzle diameter
+			{
+				bool seen = false;
 
-	case 404: // Filament width and nozzle diameter
-		{
-			bool seen = false;
+				if (gb.Seen('N'))
+				{
+					platform.SetFilamentWidth(gb.GetFValue());
+					seen = true;
+				}
+				if (gb.Seen('D'))
+				{
+					platform.SetNozzleDiameter(gb.GetFValue());
+					seen = true;
+				}
 
-			if (gb.Seen('N'))
-			{
-				platform.SetFilamentWidth(gb.GetFValue());
-				seen = true;
-			}
-			if (gb.Seen('D'))
-			{
-				platform.SetNozzleDiameter(gb.GetFValue());
-				seen = true;
+				if (!seen)
+				{
+					reply.printf("Filament width: %.2fmm, nozzle diameter: %.2fmm", (double)platform.GetFilamentWidth(), (double)platform.GetNozzleDiameter());
+				}
 			}
+			break;
 
-			if (!seen)
+		case 408: // Get status in JSON format
 			{
-				reply.printf("Filament width: %.2fmm, nozzle diameter: %.2fmm", (double)platform.GetFilamentWidth(), (double)platform.GetNozzleDiameter());
-			}
-		}
-		break;
-
-	case 408: // Get status in JSON format
-		{
-			const unsigned int form = (gb.Seen('P')) ? gb.GetUIValue() : 0;
-			const unsigned int type = gb.Seen('S') ? gb.GetUIValue() : 0;
+				const unsigned int form = (gb.Seen('P')) ? gb.GetUIValue() : 0;
+				const unsigned int type = gb.Seen('S') ? gb.GetUIValue() : 0;
 #if SUPPORT_CAN_EXPANSION
-			const uint32_t board = (gb.Seen('B')) ? gb.GetUIValue() : 0;
-			if (board != 0)
-			{
-				result = CanInterface::RemoteM408(board, form, type, gb, reply);
-				break;
-			}
+				const uint32_t board = (gb.Seen('B')) ? gb.GetUIValue() : 0;
+				if (board != 0)
+				{
+					result = CanInterface::RemoteM408(board, form, type, gb, reply);
+					break;
+				}
 #endif
-			switch (form)
-			{
-			case 0:
+				switch (form)
 				{
-					const int seq = gb.Seen('R') ? gb.GetIValue() : -1;
-					if (&gb == auxGCode && (type == 0 || type == 2))
+				case 0:
 					{
-						lastAuxStatusReportType = type;
-					}
+						const int seq = gb.Seen('R') ? gb.GetIValue() : -1;
+						if (&gb == auxGCode && (type == 0 || type == 2))
+						{
+							lastAuxStatusReportType = type;
+						}
 
-					outBuf = GenerateJsonStatusResponse(type, seq, (&gb == auxGCode) ? ResponseSource::AUX : ResponseSource::Generic);
-					if (outBuf == nullptr)
-					{
-						result = GCodeResult::notFinished;			// we ran out of buffers, so try again later
+						outBuf = GenerateJsonStatusResponse(type, seq, (&gb == auxGCode) ? ResponseSource::AUX : ResponseSource::Generic);
+						if (outBuf == nullptr)
+						{
+							result = GCodeResult::notFinished;			// we ran out of buffers, so try again later
+						}
 					}
-				}
-				break;
+					break;
 
 #if SUPPORT_OBJECT_MODEL
-			case 1:
-				{
-					String<MediumStringLength> filter;
-					bool dummy;
-					gb.TryGetQuotedString('F', filter.GetRef(), dummy);
-					if (!OutputBuffer::Allocate(outBuf))
-					{
-						result = GCodeResult::notFinished;
-					}
-					else
+				case 1:
 					{
-						reprap.ReportAsJson(outBuf, filter.c_str(), ObjectModel::flagsNone);
+						String<MediumStringLength> filter;
+						bool dummy;
+						gb.TryGetQuotedString('F', filter.GetRef(), dummy);
+						if (!OutputBuffer::Allocate(outBuf))
+						{
+							result = GCodeResult::notFinished;
+						}
+						else
+						{
+							reprap.ReportAsJson(outBuf, filter.c_str(), ObjectModel::flagsNone);
+						}
 					}
-				}
-				break;
+					break;
 #endif
 
-			default:
-				break;
+				default:
+					break;
+				}
 			}
-		}
-		break;
-
-	case 450: // Report printer mode
-		reply.printf("PrinterMode:%s", GetMachineModeString());
-		break;
-
-	case 451: // Select FFF printer mode
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		machineType = MachineType::fff;
-		break;
-
-#if SUPPORT_LASER
-	case 452: // Select laser mode
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
+			break;
 
-		machineType = MachineType::laser;
-		Move::CreateLaserTask();
+		case 450: // Report printer mode
+			reply.printf("PrinterMode:%s", GetMachineModeString());
+			break;
 
-		if (gb.Seen('C'))
-		{
-			if (platform.AssignLaserPin(gb, reply))
-			{
-				reply.copy("Laser mode selected");
-			}
-			else
-			{
-				result = GCodeResult::error;
-			}
-		}
-		if (gb.Seen('F'))
-		{
-			platform.SetLaserPwmFrequency(gb.GetPwmFrequency());
-		}
-		if (result == GCodeResult::ok)
-		{
-			if (gb.Seen('S'))
-			{
-				laserPowerSticky = (gb.GetUIValue() == 1);
-			}
-			if (gb.Seen('R'))
+		case 451: // Select FFF printer mode
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				laserMaxPower = max<float>(1.0, gb.GetFValue());
+				return false;
 			}
-		}
-		break;
-#endif
+			machineType = MachineType::fff;
+			break;
 
-	case 453: // Select CNC mode
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		{
-			const MachineType oldMachineType = machineType;
-			machineType = MachineType::cnc;								// switch to CNC mode even if the spindle parameter is bad
-			const uint32_t slot = gb.Seen('S') ? gb.GetUIValue() : 0;
-			if (slot >= MaxSpindles)
+#if SUPPORT_LASER
+		case 452: // Select laser mode
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				reply.copy("Invalid spindle index");
-				result = GCodeResult::error;
-				break;
+				return false;
 			}
 
-			Spindle& spindle = platform.AccessSpindle(slot);
+			machineType = MachineType::laser;
+			Move::CreateLaserTask();
+
 			if (gb.Seen('C'))
 			{
-				if (!spindle.AllocatePins(gb, reply))
+				if (platform.AssignLaserPin(gb, reply))
+				{
+					reply.copy("Laser mode selected");
+				}
+				else
 				{
 					result = GCodeResult::error;
-					break;
 				}
 			}
 			if (gb.Seen('F'))
 			{
-				spindle.SetFrequency(gb.GetPwmFrequency());
+				platform.SetLaserPwmFrequency(gb.GetPwmFrequency());
 			}
-			if (gb.Seen('R'))
+			if (result == GCodeResult::ok)
 			{
-				spindle.SetMaxRpm(max<float>(1.0, gb.GetFValue()));
+				if (gb.Seen('S'))
+				{
+					laserPowerSticky = (gb.GetUIValue() == 1);
+				}
+				if (gb.Seen('R'))
+				{
+					laserMaxPower = max<float>(1.0, gb.GetFValue());
+				}
 			}
-			if (gb.Seen('T'))
+			break;
+#endif
+
+		case 453: // Select CNC mode
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				spindle.SetToolNumber(gb.GetIValue());
+				return false;
 			}
-
-			// M453 may be repeated to set up multiple spindles, so only print the message on the initial switch
-			if (oldMachineType != MachineType::cnc)
 			{
-				reply.copy("CNC mode selected");
+				const MachineType oldMachineType = machineType;
+				machineType = MachineType::cnc;								// switch to CNC mode even if the spindle parameter is bad
+				const uint32_t slot = gb.Seen('S') ? gb.GetUIValue() : 0;
+				if (slot >= MaxSpindles)
+				{
+					reply.copy("Invalid spindle index");
+					result = GCodeResult::error;
+					break;
+				}
+
+				Spindle& spindle = platform.AccessSpindle(slot);
+				if (gb.Seen('C'))
+				{
+					if (!spindle.AllocatePins(gb, reply))
+					{
+						result = GCodeResult::error;
+						break;
+					}
+				}
+				if (gb.Seen('F'))
+				{
+					spindle.SetFrequency(gb.GetPwmFrequency());
+				}
+				if (gb.Seen('R'))
+				{
+					spindle.SetMaxRpm(max<float>(1.0, gb.GetFValue()));
+				}
+				if (gb.Seen('T'))
+				{
+					spindle.SetToolNumber(gb.GetIValue());
+				}
+
+				// M453 may be repeated to set up multiple spindles, so only print the message on the initial switch
+				if (oldMachineType != MachineType::cnc)
+				{
+					reply.copy("CNC mode selected");
+				}
 			}
-		}
-		break;
+			break;
 
 #if HAS_MASS_STORAGE
-	case 470: // mkdir
-		{
-			String<MaxFilenameLength> dirName;
-			if (!gb.Seen('P') || !gb.GetQuotedString(dirName.GetRef()))
+		case 470: // mkdir
 			{
-				reply.copy("Bad or missing P parameter");
-				result = GCodeResult::error;
-				break;
+				gb.MustSee('P');
+				String<MaxFilenameLength> dirName;
+				gb.GetQuotedString(dirName.GetRef());
+				MassStorage::MakeDirectory(dirName.c_str());
 			}
-			MassStorage::MakeDirectory(dirName.c_str());
-		}
-		break;
+			break;
 
-	case 471: // move/rename file/directory
-		{
-			String<MaxFilenameLength> oldVal;
-			if (!gb.Seen('S') || !gb.GetQuotedString(oldVal.GetRef()))
+		case 471: // move/rename file/directory
 			{
-				reply.copy("Bad or missing S parameter");
-				result = GCodeResult::error;
-				break;
-			}
-			String<MaxFilenameLength> newVal;
-			if (!gb.Seen('T') || !gb.GetQuotedString(newVal.GetRef()))
-			{
-				reply.copy("Bad or missing T parameter");
-				result = GCodeResult::error;
-				break;
-			}
-			if (gb.Seen('D') && gb.GetUIValue() == 1 && MassStorage::FileExists(oldVal.c_str()) && MassStorage::FileExists(newVal.c_str()))
-			{
-				MassStorage::Delete(newVal.c_str());
+				gb.MustSee('S');
+				String<MaxFilenameLength> oldVal;
+				gb.GetQuotedString(oldVal.GetRef());
+				String<MaxFilenameLength> newVal;
+				gb.MustSee('T');
+				gb.GetQuotedString(newVal.GetRef());
+				if (gb.Seen('D') && gb.GetUIValue() == 1 && MassStorage::FileExists(oldVal.c_str()) && MassStorage::FileExists(newVal.c_str()))
+				{
+					MassStorage::Delete(newVal.c_str());
+				}
+				MassStorage::Rename(oldVal.c_str(), newVal.c_str());
 			}
-			MassStorage::Rename(oldVal.c_str(), newVal.c_str());
-		}
-		break;
+			break;
 
-	case 500: // Store parameters in config-override.g
-		result = WriteConfigOverrideFile(gb, reply);
-		break;
+		case 500: // Store parameters in config-override.g
+			result = WriteConfigOverrideFile(gb, reply);
+			break;
 #endif
 
-	case 501: // Load parameters from config-override.g
-		if (!gb.MachineState().runningM502 && !gb.MachineState().runningM501)		// when running M502 we ignore config-override.g
-		{
-			if (runningConfigFile)
+		case 501: // Load parameters from config-override.g
+			if (!gb.MachineState().runningM502 && !gb.MachineState().runningM501)		// when running M502 we ignore config-override.g
 			{
-				m501SeenInConfigFile = true;
+				if (runningConfigFile)
+				{
+					m501SeenInConfigFile = true;
+				}
+				DoFileMacro(gb, CONFIG_OVERRIDE_G, true, code);
 			}
-			DoFileMacro(gb, CONFIG_OVERRIDE_G, true, code);
-		}
-		break;
+			break;
 
-	case 502: // Revert to default "factory settings" ignoring values in config-override.g
-		if (!gb.MachineState().runningM502)									// avoid recursion
-		{
-			if (!LockMovementAndWaitForStandstill(gb))
+		case 502: // Revert to default "factory settings" ignoring values in config-override.g
+			if (!gb.MachineState().runningM502)									// avoid recursion
 			{
-				return false;
+				if (!LockMovementAndWaitForStandstill(gb))
+				{
+					return false;
+				}
+				reprap.GetHeat().SwitchOffAll(true);							// turn heaters off before changing the models
+				reprap.GetHeat().ResetHeaterModels();							// in case some heaters have no M307 commands in config.g
+				reprap.GetMove().GetKinematics().SetCalibrationDefaults();		// in case M665/M666/M667/M669 in config.g don't define all the parameters
+				platform.GetEndstops().SetZProbeDefaults();
+				DoFileMacro(gb, CONFIG_FILE, true, code);
 			}
-			reprap.GetHeat().SwitchOffAll(true);							// turn heaters off before changing the models
-			reprap.GetHeat().ResetHeaterModels();							// in case some heaters have no M307 commands in config.g
-			reprap.GetMove().GetKinematics().SetCalibrationDefaults();		// in case M665/M666/M667/M669 in config.g don't define all the parameters
-			platform.GetEndstops().SetZProbeDefaults();
-			DoFileMacro(gb, CONFIG_FILE, true, code);
-		}
-		break;
+			break;
 
 #if HAS_MASS_STORAGE
-	case 503: // List variable settings
-		{
-			if (!LockFileSystem(gb))
+		case 503: // List variable settings
 			{
-				return false;
-			}
+				if (!LockFileSystem(gb))
+				{
+					return false;
+				}
 
-			// Need a valid output buffer to continue
-			if (!OutputBuffer::Allocate(outBuf))
-			{
-				// No buffer available, try again later
-				return false;
-			}
+				// Need a valid output buffer to continue
+				if (!OutputBuffer::Allocate(outBuf))
+				{
+					// No buffer available, try again later
+					return false;
+				}
 
-			// Read the entire file
-			FileStore * const f = platform.OpenSysFile(platform.GetConfigFile(), OpenMode::read);
-			if (f == nullptr)
-			{
-				reply.copy("Configuration file not found");
-				result = GCodeResult::error;
-			}
-			else
-			{
-				char fileBuffer[FILE_BUFFER_SIZE];
-				size_t bytesRead,
-					bytesLeftForWriting = OutputBuffer::GetBytesLeft(outBuf);
-				while ((bytesRead = f->Read(fileBuffer, FILE_BUFFER_SIZE)) > 0 && bytesLeftForWriting > 0)
+				// Read the entire file
+				FileStore * const f = platform.OpenSysFile(platform.GetConfigFile(), OpenMode::read);
+				if (f == nullptr)
 				{
-					// Don't write more data than we can process
-					if (bytesRead < bytesLeftForWriting)
-					{
-						bytesLeftForWriting -= bytesRead;
-					}
-					else
+					reply.copy("Configuration file not found");
+					result = GCodeResult::error;
+				}
+				else
+				{
+					char fileBuffer[FILE_BUFFER_SIZE];
+					size_t bytesRead,
+						bytesLeftForWriting = OutputBuffer::GetBytesLeft(outBuf);
+					while ((bytesRead = f->Read(fileBuffer, FILE_BUFFER_SIZE)) > 0 && bytesLeftForWriting > 0)
 					{
-						bytesRead = bytesLeftForWriting;
-						bytesLeftForWriting = 0;
-					}
+						// Don't write more data than we can process
+						if (bytesRead < bytesLeftForWriting)
+						{
+							bytesLeftForWriting -= bytesRead;
+						}
+						else
+						{
+							bytesRead = bytesLeftForWriting;
+							bytesLeftForWriting = 0;
+						}
 
-					// Write it
-					outBuf->cat(fileBuffer, bytesRead);
+						// Write it
+						outBuf->cat(fileBuffer, bytesRead);
+					}
+					f->Close();
 				}
-				f->Close();
 			}
-		}
-		break;
+			break;
 
-	case 505:	// set sys folder
-		if (gb.Seen('P'))
-		{
-			// Lock movement to try to prevent other threads opening system files while we change the system path
-			if (!LockMovementAndWaitForStandstill(gb))
+		case 505:	// set sys folder
+			if (gb.Seen('P'))
 			{
-				return false;
+				// Lock movement to try to prevent other threads opening system files while we change the system path
+				if (!LockMovementAndWaitForStandstill(gb))
+				{
+					return false;
+				}
+				String<MaxFilenameLength> path;
+				gb.GetQuotedString(path.GetRef());
+				result = platform.SetSysDir(path.c_str(), reply);
 			}
-			String<MaxFilenameLength> path;
-			gb.GetQuotedString(path.GetRef());
-			result = platform.SetSysDir(path.c_str(), reply);
-		}
-		else
-		{
-			String<MaxFilenameLength> path;
-			platform.GetSysDir(path.GetRef());
-			reply.printf("Sys file path is %s", path.c_str());
-		}
-		break;
+			else
+			{
+				String<MaxFilenameLength> path;
+				platform.GetSysDir(path.GetRef());
+				reply.printf("Sys file path is %s", path.c_str());
+			}
+			break;
 #endif
 
-	case 540: // Set/report MAC address
-		if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
-		{
-			const unsigned int interface = (gb.Seen('I') ? gb.GetUIValue() : 0);
-			if (gb.Seen('P'))
+		case 540: // Set/report MAC address
+			if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
 			{
-				uint8_t mac[6];
-				if (gb.GetMacAddress(mac))
+				const unsigned int interface = (gb.Seen('I') ? gb.GetUIValue() : 0);
+				if (gb.Seen('P'))
 				{
+					uint8_t mac[6];
+					gb.GetMacAddress(mac);
 					reprap.GetNetwork().SetMacAddress(interface, mac);
 				}
 				else
 				{
-					reply.copy("Bad MAC address");
-					result = GCodeResult::error;
+					const uint8_t * const mac = reprap.GetNetwork().GetMacAddress(interface);
+					reply.printf("MAC: %02x:%02x:%02x:%02x:%02x:%02x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
 				}
 			}
-			else
-			{
-				const uint8_t * const mac = reprap.GetNetwork().GetMacAddress(interface);
-				reply.printf("MAC: %02x:%02x:%02x:%02x:%02x:%02x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
-			}
-		}
-		break;
+			break;
 
-	case 550: // Set/report machine name
+		case 550: // Set/report machine name
 #if HAS_LINUX_INTERFACE
-		if (reprap.UsingLinuxInterface() && !gb.IsBinary())
-		{
-			result = GCodeResult::errorNotSupported;
-		}
-		else
-#endif
-		{
-			String<MachineNameLength> name;
-			bool seen = false;
-			gb.TryGetPossiblyQuotedString('P', name.GetRef(), seen);
-			if (seen)
+			if (reprap.UsingLinuxInterface() && !gb.IsBinary())
 			{
-				reprap.SetName(name.c_str());
+				result = GCodeResult::errorNotSupported;
 			}
 			else
+#endif
 			{
-				reply.printf("RepRap name: %s", reprap.GetName());
+				String<MachineNameLength> name;
+				bool seen = false;
+				gb.TryGetPossiblyQuotedString('P', name.GetRef(), seen);
+				if (seen)
+				{
+					reprap.SetName(name.c_str());
+				}
+				else
+				{
+					reply.printf("RepRap name: %s", reprap.GetName());
+				}
 			}
-		}
-		break;
+			break;
 
-	case 551: // Set password (no option to report it)
-		{
-			String<RepRapPasswordLength> password;
-			bool seen = false;
-			gb.TryGetPossiblyQuotedString('P', password.GetRef(), seen);
-			if (seen)
+		case 551: // Set password (no option to report it)
 			{
-				reprap.SetPassword(password.c_str());
+				String<RepRapPasswordLength> password;
+				bool seen = false;
+				gb.TryGetPossiblyQuotedString('P', password.GetRef(), seen);
+				if (seen)
+				{
+					reprap.SetPassword(password.c_str());
+				}
 			}
-		}
-		break;
-
-	case 552: // Enable/Disable network and/or Set/Get IP address
-		if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
-		{
-			bool seen = false;
-			const unsigned int interface = (gb.Seen('I') ? gb.GetUIValue() : 0);
+			break;
 
-			String<SsidBufferLength> ssid;
-			if (reprap.GetNetwork().IsWiFiInterface(interface))
+		case 552: // Enable/Disable network and/or Set/Get IP address
+			if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
 			{
-				if (gb.Seen('S')) // Has the user turned the network on or off?
-				{
-					const int enableValue = gb.GetIValue();
-					seen = true;
+				bool seen = false;
+				const unsigned int interface = (gb.Seen('I') ? gb.GetUIValue() : 0);
 
-					if (gb.Seen('P') && !gb.GetQuotedString(ssid.GetRef()))
-					{
-						reply.copy("Bad or missing SSID");
-						result = GCodeResult::error;
-					}
-					else
+				String<SsidBufferLength> ssid;
+				if (reprap.GetNetwork().IsWiFiInterface(interface))
+				{
+					if (gb.Seen('S')) // Has the user turned the network on or off?
 					{
+						const int enableValue = gb.GetIValue();
+						seen = true;
+
+						gb.MustSee('P');
+						gb.GetQuotedString(ssid.GetRef());
 						result = reprap.GetNetwork().EnableInterface(interface, enableValue, ssid.GetRef(), reply);
 					}
 				}
-			}
-			else
-			{
-				if (gb.Seen('P'))
+				else
 				{
-					seen = true;
-					IPAddress eth;
-					if (gb.GetIPAddress(eth))
+					if (gb.Seen('P'))
 					{
+						seen = true;
+						IPAddress eth;
+						gb.GetIPAddress(eth);
 						platform.SetIPAddress(eth);
 					}
-					else
+
+					// Process this one last in case the IP address is changed and the network enabled in the same command
+					if (gb.Seen('S')) // Has the user turned the network on or off?
 					{
-						reply.copy("Bad IP address");
-						result = GCodeResult::error;
-						break;
+						seen = true;
+						result = reprap.GetNetwork().EnableInterface(interface, gb.GetIValue(), ssid.GetRef(), reply);
 					}
 				}
 
-				// Process this one last in case the IP address is changed and the network enabled in the same command
-				if (gb.Seen('S')) // Has the user turned the network on or off?
+				if (!seen)
 				{
-					seen = true;
-					result = reprap.GetNetwork().EnableInterface(interface, gb.GetIValue(), ssid.GetRef(), reply);
+					result = reprap.GetNetwork().GetNetworkState(interface, reply);
 				}
 			}
+			break;
 
-			if (!seen)
-			{
-				result = reprap.GetNetwork().GetNetworkState(interface, reply);
-			}
-		}
-		break;
-
-	case 553: // Set/Get netmask
-		if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
-		{
-			if (gb.Seen('P'))
+		case 553: // Set/Get netmask
+			if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
 			{
-				IPAddress eth;
-				if (gb.GetIPAddress(eth))
+				if (gb.Seen('P'))
 				{
+					IPAddress eth;
+					gb.GetIPAddress(eth);
 					platform.SetNetMask(eth);
 				}
 				else
 				{
-					reply.copy("Bad IP address");
-					result = GCodeResult::error;
+					const IPAddress nm = platform.NetMask();
+					reply.printf("Net mask: %d.%d.%d.%d ", nm.GetQuad(0), nm.GetQuad(1), nm.GetQuad(2), nm.GetQuad(3));
 				}
 			}
-			else
-			{
-				const IPAddress nm = platform.NetMask();
-				reply.printf("Net mask: %d.%d.%d.%d ", nm.GetQuad(0), nm.GetQuad(1), nm.GetQuad(2), nm.GetQuad(3));
-			}
-		}
-		break;
+			break;
 
-	case 554: // Set/Get gateway
-		if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
-		{
-			if (gb.Seen('P'))
+		case 554: // Set/Get gateway
+			if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
 			{
-				IPAddress eth;
-				if (gb.GetIPAddress(eth))
+				if (gb.Seen('P'))
 				{
+					IPAddress eth;
+					gb.GetIPAddress(eth);
 					platform.SetGateWay(eth);
 				}
 				else
 				{
-					reply.copy("Bad IP address");
-					result = GCodeResult::error;
+					const IPAddress gw = platform.GateWay();
+					reply.printf("Gateway: %d.%d.%d.%d ", gw.GetQuad(0), gw.GetQuad(1), gw.GetQuad(2), gw.GetQuad(3));
 				}
 			}
-			else
+			break;
+
+		case 555: // Set/report firmware type to emulate
+			if (gb.Seen('P'))
 			{
-				const IPAddress gw = platform.GateWay();
-				reply.printf("Gateway: %d.%d.%d.%d ", gw.GetQuad(0), gw.GetQuad(1), gw.GetQuad(2), gw.GetQuad(3));
+				gb.MachineState().compatibility = (Compatibility)gb.GetIValue();
 			}
-		}
-		break;
-
-	case 555: // Set/report firmware type to emulate
-		if (gb.Seen('P'))
-		{
-			gb.MachineState().compatibility = (Compatibility)gb.GetIValue();
-		}
-		else
-		{
-			reply.copy("Emulating ");
-			switch (gb.MachineState().compatibility)
+			else
 			{
-			case Compatibility::me:
-			case Compatibility::reprapFirmware:
-				reply.cat("RepRapFirmware (i.e. in native mode)");
-				break;
+				reply.copy("Emulating ");
+				switch (gb.MachineState().compatibility)
+				{
+				case Compatibility::me:
+				case Compatibility::reprapFirmware:
+					reply.cat("RepRapFirmware (i.e. in native mode)");
+					break;
 
-			case Compatibility::marlin:
-				reply.cat("Marlin");
-				break;
+				case Compatibility::marlin:
+					reply.cat("Marlin");
+					break;
 
-			case Compatibility::teacup:
-				reply.cat("Teacup");
-				break;
+				case Compatibility::teacup:
+					reply.cat("Teacup");
+					break;
 
-			case Compatibility::sprinter:
-				reply.cat("Sprinter");
-				break;
+				case Compatibility::sprinter:
+					reply.cat("Sprinter");
+					break;
 
-			case Compatibility::repetier:
-				reply.cat("Repetier");
-				break;
+				case Compatibility::repetier:
+					reply.cat("Repetier");
+					break;
 
-			case Compatibility::nanoDLP:
-				reply.cat("nanoDLP");
-				break;
+				case Compatibility::nanoDLP:
+					reply.cat("nanoDLP");
+					break;
 
-			default:
-				reply.catf("Unknown: (%u)", (unsigned int)gb.MachineState().compatibility);
+				default:
+					reply.catf("Unknown: (%u)", (unsigned int)gb.MachineState().compatibility);
+				}
 			}
-		}
-		break;
+			break;
 
-	case 556: // Axis compensation (we support only X, Y, Z)
-		if (gb.Seen('S'))
-		{
-			const float value = gb.GetFValue();
-			if (value >= 10.0)			// avoid divide by zero and silly results
+		case 556: // Axis compensation (we support only X, Y, Z)
+			if (gb.Seen('S'))
 			{
-				for (size_t axis = 0; axis <= Z_AXIS; axis++)
+				const float value = gb.GetFValue();
+				if (value >= 10.0)			// avoid divide by zero and silly results
 				{
-					if (gb.Seen(axisLetters[axis]))
+					for (size_t axis = 0; axis <= Z_AXIS; axis++)
 					{
-						reprap.GetMove().SetAxisCompensation(axis, gb.GetFValue() / value);
+						if (gb.Seen(axisLetters[axis]))
+						{
+							reprap.GetMove().SetAxisCompensation(axis, gb.GetFValue() / value);
+						}
 					}
 				}
 			}
-		}
-		else
-		{
-			reply.printf("Axis compensations - XY: %.5f, YZ: %.5f, ZX: %.5f",
-				(double)reprap.GetMove().AxisCompensation(X_AXIS), (double)reprap.GetMove().AxisCompensation(Y_AXIS), (double)reprap.GetMove().AxisCompensation(Z_AXIS));
-		}
-		break;
-
-	case 557: // Set/report Z probe point coordinates
-		result = DefineGrid(gb, reply);
-		break;
-
-	case 558: // Set or report Z probe type and for which axes it is used
-		result = platform.GetEndstops().HandleM558(gb, reply);
-		break;
-
-#if HAS_MASS_STORAGE
-	case 559:
-	case 560: // Binary writing
-		{
-			String<MaxFilenameLength> sysDir;
-			const char* defaultFile;
-			const char *folder;
-			if (code == 560)
-			{
-				folder = platform.GetWebDir();
-				defaultFile = INDEX_PAGE_FILE;
-			}
 			else
 			{
-				platform.GetSysDir(sysDir.GetRef());
-				folder = sysDir.c_str();
-				defaultFile = platform.GetConfigFile();
+				reply.printf("Axis compensations - XY: %.5f, YZ: %.5f, ZX: %.5f",
+					(double)reprap.GetMove().AxisCompensation(X_AXIS), (double)reprap.GetMove().AxisCompensation(Y_AXIS), (double)reprap.GetMove().AxisCompensation(Z_AXIS));
 			}
-			String<MaxFilenameLength> filename;
-			if (gb.Seen('P'))
-			{
-				gb.GetPossiblyQuotedString(filename.GetRef());
-			}
-			else
-			{
-				filename.copy(defaultFile);
-			}
-			const FilePosition size = (gb.Seen('S') ? (FilePosition)gb.GetIValue() : 0);
-			const uint32_t crc32 = (gb.Seen('C') ? gb.GetUIValue() : 0);
-			const bool ok = gb.OpenFileToWrite(folder, filename.c_str(), size, true, crc32);
-			if (ok)
-			{
-				reply.printf("Writing to file: %s", filename.c_str());
-			}
-			else
-			{
-				reply.printf("Can't open file %s for writing.", filename.c_str());
-				result = GCodeResult::error;
-			}
-		}
-		break;
-#endif
-
-	case 561: // Set identity transform and disable height map
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		ClearBedMapping();
-		break;
+			break;
 
-	case 562: // Reset temperature fault - use with great caution
-		if (gb.Seen('P'))
-		{
-			const unsigned int heater = gb.GetUIValue();
-			if (heater < MaxHeaters)
-			{
-				result = reprap.ClearTemperatureFault(heater, reply);
-			}
-			else
-			{
-				reply.printf("Invalid heater number '%d'", heater);
-				result = GCodeResult::error;
-			}
-		}
-		else
-		{
-			// Clear all heater faults
-			for (unsigned int heater = 0; heater < MaxHeaters; ++heater)
-			{
-				result = max<GCodeResult>(result, reprap.ClearTemperatureFault(heater, reply));
-			}
-		}
-		heaterFaultState = HeaterFaultState::noFault;
-		break;
+		case 557: // Set/report Z probe point coordinates
+			result = DefineGrid(gb, reply);
+			break;
 
-	case 563: // Define tool
-		result = ManageTool(gb, reply);
-		break;
+		case 558: // Set or report Z probe type and for which axes it is used
+			result = platform.GetEndstops().HandleM558(gb, reply);
+			break;
 
-	case 564: // Think outside the box?
-		{
-			bool seen = false;
-			if (gb.Seen('S'))
-			{
-				seen = true;
-				limitAxes = (gb.GetIValue() > 0);
-			}
-			if (gb.Seen('H'))
+#if HAS_MASS_STORAGE
+		case 559:
+		case 560: // Binary writing
 			{
-				seen = true;
-				noMovesBeforeHoming = (gb.GetIValue() > 0);
+				String<MaxFilenameLength> sysDir;
+				const char* defaultFile;
+				const char *folder;
+				if (code == 560)
+				{
+					folder = platform.GetWebDir();
+					defaultFile = INDEX_PAGE_FILE;
+				}
+				else
+				{
+					platform.GetSysDir(sysDir.GetRef());
+					folder = sysDir.c_str();
+					defaultFile = platform.GetConfigFile();
+				}
+				String<MaxFilenameLength> filename;
+				if (gb.Seen('P'))
+				{
+					gb.GetPossiblyQuotedString(filename.GetRef());
+				}
+				else
+				{
+					filename.copy(defaultFile);
+				}
+				const FilePosition size = (gb.Seen('S') ? (FilePosition)gb.GetIValue() : 0);
+				const uint32_t crc32 = (gb.Seen('C') ? gb.GetUIValue() : 0);
+				const bool ok = gb.OpenFileToWrite(folder, filename.c_str(), size, true, crc32);
+				if (ok)
+				{
+					reply.printf("Writing to file: %s", filename.c_str());
+				}
+				else
+				{
+					reply.printf("Can't open file %s for writing.", filename.c_str());
+					result = GCodeResult::error;
+				}
 			}
-			if (!seen)
+			break;
+#endif
+
+		case 561: // Set identity transform and disable height map
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				reply.printf("Movement outside the bed is %spermitted, movement before homing is %spermitted", (limitAxes) ? "not " : "", (noMovesBeforeHoming) ? "not " : "");
+				return false;
 			}
-		}
-		break;
+			ClearBedMapping();
+			break;
 
-	case 205: // Set/print maximum jerk speeds in mm/sec
-	case 566: // Set/print maximum jerk speeds in mm/min
-		{
-			const float multiplier1 = (code == 566) ? SecondsToMinutes : 1.0;
-			bool seen = false;
-			for (size_t axis = 0; axis < numTotalAxes; axis++)
+		case 562: // Reset temperature fault - use with great caution
+			if (gb.Seen('P'))
 			{
-				if (gb.Seen(axisLetters[axis]))
+				const unsigned int heater = gb.GetUIValue();
+				if (heater < MaxHeaters)
 				{
-					platform.SetInstantDv(axis, gb.GetDistance() * multiplier1);
-					seen = true;
+					result = reprap.ClearTemperatureFault(heater, reply);
+				}
+				else
+				{
+					reply.printf("Invalid heater number '%d'", heater);
+					result = GCodeResult::error;
 				}
 			}
-
-			if (gb.Seen(extrudeLetter))
+			else
 			{
-				seen = true;
-				float eVals[MaxExtruders];
-				size_t eCount = numExtruders;
-				gb.GetFloatArray(eVals, eCount, true);
-				for (size_t e = 0; e < eCount; e++)
+				// Clear all heater faults
+				for (unsigned int heater = 0; heater < MaxHeaters; ++heater)
 				{
-					platform.SetInstantDv(ExtruderToLogicalDrive(e), eVals[e] * multiplier1);
+					result = max<GCodeResult>(result, reprap.ClearTemperatureFault(heater, reply));
 				}
 			}
+			heaterFaultState = HeaterFaultState::noFault;
+			break;
 
-			if (code == 566 && gb.Seen('P'))
-			{
-				seen = true;
-				reprap.GetMove().SetJerkPolicy(gb.GetUIValue());
-			}
+		case 563: // Define tool
+			result = ManageTool(gb, reply);
+			break;
 
-			if (!seen)
+		case 564: // Think outside the box?
 			{
-				const float multiplier2 = (code == 566) ? MinutesToSeconds : 1.0;
-				reply.printf("Maximum jerk rates (mm/%s): ", (code == 566) ? "min" : "sec");
-				for (size_t axis = 0; axis < numTotalAxes; ++axis)
+				bool seen = false;
+				if (gb.Seen('S'))
 				{
-					reply.catf("%c: %.1f, ", axisLetters[axis], (double)(platform.GetInstantDv(axis) * multiplier2));
+					seen = true;
+					limitAxes = (gb.GetIValue() > 0);
 				}
-				reply.cat("E:");
-				char sep = ' ';
-				for (size_t extruder = 0; extruder < numExtruders; extruder++)
+				if (gb.Seen('H'))
 				{
-					reply.catf("%c%.1f", sep, (double)(platform.GetInstantDv(ExtruderToLogicalDrive(extruder)) * multiplier2));
-					sep = ':';
+					seen = true;
+					noMovesBeforeHoming = (gb.GetIValue() > 0);
 				}
-				if (code == 566)
+				if (!seen)
 				{
-					reply.catf(", jerk policy: %u", reprap.GetMove().GetJerkPolicy());
+					reply.printf("Movement outside the bed is %spermitted, movement before homing is %spermitted", (limitAxes) ? "not " : "", (noMovesBeforeHoming) ? "not " : "");
 				}
 			}
-		}
-		break;
+			break;
 
-	case 567: // Set/report tool mix ratios
-		if (gb.Seen('P'))
-		{
-			const int8_t tNumber = gb.GetIValue();
-			Tool* const tool = reprap.GetTool(tNumber);
-			if (tool != nullptr)
+		case 205: // Set/print maximum jerk speeds in mm/sec
+		case 566: // Set/print maximum jerk speeds in mm/min
 			{
-				if (gb.Seen(extrudeLetter))
+				const float multiplier1 = (code == 566) ? SecondsToMinutes : 1.0;
+				bool seen = false;
+				for (size_t axis = 0; axis < numTotalAxes; axis++)
 				{
-					float eVals[MaxExtruders];
-					size_t eCount = tool->DriveCount();
-					gb.GetFloatArray(eVals, eCount, false);
-					if (eCount != tool->DriveCount())
+					if (gb.Seen(axisLetters[axis]))
 					{
-						reply.copy("Setting mix ratios - wrong number of E drives: ");
-						gb.AppendFullCommand(reply);
+						platform.SetInstantDv(axis, gb.GetDistance() * multiplier1);
+						seen = true;
 					}
-					else
+				}
+
+				if (gb.Seen(extrudeLetter))
+				{
+					seen = true;
+					float eVals[MaxExtruders];
+					size_t eCount = numExtruders;
+					gb.GetFloatArray(eVals, eCount, true);
+					for (size_t e = 0; e < eCount; e++)
 					{
-						tool->DefineMix(eVals);
+						platform.SetInstantDv(ExtruderToLogicalDrive(e), eVals[e] * multiplier1);
 					}
 				}
-				else
+
+				if (code == 566 && gb.Seen('P'))
 				{
-					reply.printf("Tool %d mix ratios:", tNumber);
+					seen = true;
+					reprap.GetMove().SetJerkPolicy(gb.GetUIValue());
+				}
+
+				if (!seen)
+				{
+					const float multiplier2 = (code == 566) ? MinutesToSeconds : 1.0;
+					reply.printf("Maximum jerk rates (mm/%s): ", (code == 566) ? "min" : "sec");
+					for (size_t axis = 0; axis < numTotalAxes; ++axis)
+					{
+						reply.catf("%c: %.1f, ", axisLetters[axis], (double)(platform.GetInstantDv(axis) * multiplier2));
+					}
+					reply.cat("E:");
 					char sep = ' ';
-					for (size_t drive = 0; drive < tool->DriveCount(); drive++)
+					for (size_t extruder = 0; extruder < numExtruders; extruder++)
 					{
-						reply.catf("%c%.3f", sep, (double)tool->GetMix()[drive]);
+						reply.catf("%c%.1f", sep, (double)(platform.GetInstantDv(ExtruderToLogicalDrive(extruder)) * multiplier2));
 						sep = ':';
 					}
+					if (code == 566)
+					{
+						reply.catf(", jerk policy: %u", reprap.GetMove().GetJerkPolicy());
+					}
 				}
 			}
-		}
-		break;
-
-	case 568: // Turn on/off automatic tool mixing
-		reply.copy("The M568 command is no longer needed");
-		break;
-
-	case 569: // Set/report axis direction
-		result = ConfigureDriver(gb, reply);
-		break;
+			break;
 
-	case 570: // Set/report heater monitoring
-		{
-			bool seen = false;
-			if (gb.Seen('S'))
-			{
-				seen = true;
-				heaterFaultTimeout = gb.GetUIValue() * (60 * 1000);
-			}
-			if (gb.Seen('H'))
+		case 567: // Set/report tool mix ratios
+			if (gb.Seen('P'))
 			{
-				seen = true;
-				result = reprap.GetHeat().ConfigureHeaterMonitoring(gb.GetUIValue(), gb, reply);
+				const int8_t tNumber = gb.GetIValue();
+				Tool* const tool = reprap.GetTool(tNumber);
+				if (tool != nullptr)
+				{
+					if (gb.Seen(extrudeLetter))
+					{
+						float eVals[MaxExtruders];
+						size_t eCount = tool->DriveCount();
+						gb.GetFloatArray(eVals, eCount, false);
+						if (eCount != tool->DriveCount())
+						{
+							reply.copy("Setting mix ratios - wrong number of E drives: ");
+							gb.AppendFullCommand(reply);
+						}
+						else
+						{
+							tool->DefineMix(eVals);
+						}
+					}
+					else
+					{
+						reply.printf("Tool %d mix ratios:", tNumber);
+						char sep = ' ';
+						for (size_t drive = 0; drive < tool->DriveCount(); drive++)
+						{
+							reply.catf("%c%.3f", sep, (double)tool->GetMix()[drive]);
+							sep = ':';
+						}
+					}
+				}
 			}
-			if (!seen)
+			break;
+
+		case 568: // Turn on/off automatic tool mixing
+			reply.copy("The M568 command is no longer needed");
+			break;
+
+		case 569: // Set/report axis direction
+			result = ConfigureDriver(gb, reply);
+			break;
+
+		case 570: // Set/report heater monitoring
 			{
-				reply.printf("Print will be terminated if a heater fault is not reset within %" PRIu32 " minutes", heaterFaultTimeout/(60 * 1000));
+				bool seen = false;
+				if (gb.Seen('S'))
+				{
+					seen = true;
+					heaterFaultTimeout = gb.GetUIValue() * (60 * 1000);
+				}
+				if (gb.Seen('H'))
+				{
+					seen = true;
+					result = reprap.GetHeat().ConfigureHeaterMonitoring(gb.GetUIValue(), gb, reply);
+				}
+				if (!seen)
+				{
+					reply.printf("Print will be terminated if a heater fault is not reset within %" PRIu32 " minutes", heaterFaultTimeout/(60 * 1000));
+				}
 			}
-		}
-		break;
+			break;
 
-	case 571: // Set output on extrude
-		result = platform.GetSetAncillaryPwm(gb, reply);
-		break;
+		case 571: // Set output on extrude
+			result = platform.GetSetAncillaryPwm(gb, reply);
+			break;
 
-	case 572: // Set/report pressure advance
-		if (gb.Seen('S'))
-		{
-			const float advance = gb.GetFValue();
-			if (!LockMovementAndWaitForStandstill(gb))
+		case 572: // Set/report pressure advance
+			if (gb.Seen('S'))
 			{
-				return false;
+				const float advance = gb.GetFValue();
+				if (!LockMovementAndWaitForStandstill(gb))
+				{
+					return false;
+				}
+				result = platform.SetPressureAdvance(advance, gb, reply);
 			}
-			result = platform.SetPressureAdvance(advance, gb, reply);
-		}
-		else
-		{
-			reply.copy("Extruder pressure advance");
-			char c = ':';
-			for (size_t i = 0; i < numExtruders; ++i)
+			else
 			{
-				reply.catf("%c %.3f", c, (double)platform.GetPressureAdvance(i));
-				c = ',';
+				reply.copy("Extruder pressure advance");
+				char c = ':';
+				for (size_t i = 0; i < numExtruders; ++i)
+				{
+					reply.catf("%c %.3f", c, (double)platform.GetPressureAdvance(i));
+					c = ',';
+				}
 			}
-		}
-		break;
+			break;
 
-	case 573: // Report heater average PWM
-		if (gb.Seen('P'))
-		{
-			const unsigned int heater = gb.GetUIValue();
-			if (heater < MaxHeaters)
+		case 573: // Report heater average PWM
+			if (gb.Seen('P'))
 			{
-				reply.printf("Average heater %u PWM: %.3f", heater, (double)reprap.GetHeat().GetAveragePWM(heater));
+				const unsigned int heater = gb.GetUIValue();
+				if (heater < MaxHeaters)
+				{
+					reply.printf("Average heater %u PWM: %.3f", heater, (double)reprap.GetHeat().GetAveragePWM(heater));
+				}
 			}
-		}
-		break;
+			break;
 
-	case 574: // Set endstop configuration
-		// We may be about to delete endstops, so make sure we are not executing a move that uses them
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		result = platform.GetEndstops().HandleM574(gb, reply, outBuf);
-		break;
+		case 574: // Set endstop configuration
+			// We may be about to delete endstops, so make sure we are not executing a move that uses them
+			if (!LockMovementAndWaitForStandstill(gb))
+			{
+				return false;
+			}
+			result = platform.GetEndstops().HandleM574(gb, reply, outBuf);
+			break;
 
-	case 575: // Set communications parameters
-		if (gb.Seen('P'))
-		{
-			size_t chan = gb.GetIValue();
-			if (chan < NUM_SERIAL_CHANNELS)
+		case 575: // Set communications parameters
 			{
-				bool seen = false;
-				if (gb.Seen('B'))
-				{
-					platform.SetBaudRate(chan, gb.GetIValue());
-					seen = true;
-				}
-				if (gb.Seen('S'))
+				gb.MustSee('P');
+				size_t chan = gb.GetIValue();
+				if (chan < NUM_SERIAL_CHANNELS)
 				{
-					uint32_t val = gb.GetIValue();
-					platform.SetCommsProperties(chan, val);
-					switch (chan)
+					bool seen = false;
+					if (gb.Seen('B'))
 					{
-					case 0:
-						usbGCode->SetCommsProperties(val);
-						break;
-					case 1:
-						if (auxGCode != nullptr)
+						platform.SetBaudRate(chan, gb.GetIValue());
+						seen = true;
+					}
+					if (gb.Seen('S'))
+					{
+						uint32_t val = gb.GetIValue();
+						platform.SetCommsProperties(chan, val);
+						switch (chan)
 						{
-							auxGCode->SetCommsProperties(val);
-							platform.SetAuxDetected();
+						case 0:
+							usbGCode->SetCommsProperties(val);
+							break;
+						case 1:
+							if (auxGCode != nullptr)
+							{
+								auxGCode->SetCommsProperties(val);
+								platform.SetAuxDetected();
+							}
+							break;
+						default:
+							break;
 						}
-						break;
-					default:
-						break;
+						seen = true;
+					}
+					if (!seen)
+					{
+						uint32_t cp = platform.GetCommsProperties(chan);
+						reply.printf("Channel %d: baud rate %" PRIu32 ", %s checksum", chan, platform.GetBaudRate(chan), (cp & 1) ? "requires" : "does not require");
 					}
-					seen = true;
-				}
-				if (!seen)
-				{
-					uint32_t cp = platform.GetCommsProperties(chan);
-					reply.printf("Channel %d: baud rate %" PRIu32 ", %s checksum", chan, platform.GetBaudRate(chan), (cp & 1) ? "requires" : "does not require");
 				}
 			}
-		}
-		break;
+			break;
 
-	case 577: // Wait until endstop input is triggered
-		result = WaitForPin(gb, reply);
-		break;
+		case 577: // Wait until endstop input is triggered
+			result = WaitForPin(gb, reply);
+			break;
 
 #if SUPPORT_INKJET
-	case 578: // Fire Inkjet bits
-		if (!LockMovementAndWaitForStandstill())
-		{
-			return false;
-		}
-
-		if (gb.Seen('S')) // Need to handle the 'P' parameter too; see http://reprap.org/wiki/G-code#M578:_Fire_inkjet_bits
-		{
-			platform.Inkjet(gb.GetIValue());
-		}
-		break;
-#endif
+		case 578: // Fire Inkjet bits
+			if (!LockMovementAndWaitForStandstill())
+			{
+				return false;
+			}
 
-	case 579: // Scale Cartesian axes (mostly for Delta configurations)
-		{
-			bool seen = false;
-			for (size_t axis = 0; axis < numVisibleAxes; axis++)
+			if (gb.Seen('S')) // Need to handle the 'P' parameter too; see http://reprap.org/wiki/G-code#M578:_Fire_inkjet_bits
 			{
-				gb.TryGetFValue(axisLetters[axis], axisScaleFactors[axis], seen);
+				platform.Inkjet(gb.GetIValue());
 			}
+			break;
+#endif
 
-			if (!seen)
+		case 579: // Scale Cartesian axes (mostly for Delta configurations)
 			{
-				char sep = ':';
-				reply.copy("Axis scale factors");
-				for(size_t axis = 0; axis < numVisibleAxes; axis++)
+				bool seen = false;
+				for (size_t axis = 0; axis < numVisibleAxes; axis++)
 				{
-					reply.catf("%c %c: %.3f", sep, axisLetters[axis], (double)axisScaleFactors[axis]);
-					sep = ',';
+					gb.TryGetFValue(axisLetters[axis], axisScaleFactors[axis], seen);
+				}
+
+				if (!seen)
+				{
+					char sep = ':';
+					reply.copy("Axis scale factors");
+					for(size_t axis = 0; axis < numVisibleAxes; axis++)
+					{
+						reply.catf("%c %c: %.3f", sep, axisLetters[axis], (double)axisScaleFactors[axis]);
+						sep = ',';
+					}
 				}
 			}
-		}
-		break;
+			break;
 
 #if SUPPORT_ROLAND
-	case 580: // (De)Select Roland mill
-		if (gb.Seen('R'))
-		{
-			if (gb.GetIValue())
+		case 580: // (De)Select Roland mill
+			if (gb.Seen('R'))
 			{
-				reprap.GetRoland()->Activate();
-				if (gb.Seen('P'))
+				if (gb.GetIValue())
+				{
+					reprap.GetRoland()->Activate();
+					if (gb.Seen('P'))
+					{
+						result = reprap.GetRoland()->RawWrite(gb.GetString());
+					}
+				}
+				else
 				{
-					result = reprap.GetRoland()->RawWrite(gb.GetString());
+					result = reprap.GetRoland()->Deactivate();
 				}
 			}
 			else
 			{
-				result = reprap.GetRoland()->Deactivate();
+				reply.printf("Roland is %s.", reprap.GetRoland()->Active() ? "active" : "inactive");
 			}
-		}
-		else
-		{
-			reply.printf("Roland is %s.", reprap.GetRoland()->Active() ? "active" : "inactive");
-		}
-		break;
+			break;
 #endif
 
-	case 581: // Configure external trigger
-		result = ConfigureTrigger(gb, reply, code);
-		break;
-
-	case 582: // Check external trigger
-		result = CheckTrigger(gb, reply, code);
-		break;
+		case 581: // Configure external trigger
+			result = ConfigureTrigger(gb, reply, code);
+			break;
 
-	case 584: // Set axis/extruder to stepper driver(s) mapping
-		result = DoDriveMapping(gb, reply);
-		break;
+		case 582: // Check external trigger
+			result = CheckTrigger(gb, reply, code);
+			break;
 
-	case 585: // Probe Tool
-		result = ProbeTool(gb, reply);
-		break;
+		case 584: // Set axis/extruder to stepper driver(s) mapping
+			result = DoDriveMapping(gb, reply);
+			break;
 
-	case 586: // Configure network protocols
-		{
-			const unsigned int interface = (gb.Seen('I') ? gb.GetUIValue() : 0);
+		case 585: // Probe Tool
+			result = ProbeTool(gb, reply);
+			break;
 
-			if (gb.Seen('P'))
+		case 586: // Configure network protocols
 			{
-				const unsigned int protocol = gb.GetUIValue();
-				if (gb.Seen('S'))
+				const unsigned int interface = (gb.Seen('I') ? gb.GetUIValue() : 0);
+
+				if (gb.Seen('P'))
 				{
-					const bool enable = (gb.GetIValue() == 1);
-					if (enable)
+					const unsigned int protocol = gb.GetUIValue();
+					if (gb.Seen('S'))
 					{
-						const int port = (gb.Seen('R')) ? gb.GetIValue() : -1;
-						const int secure = (gb.Seen('T')) ? gb.GetIValue() : -1;
-						result = reprap.GetNetwork().EnableProtocol(interface, protocol, port, secure, reply);
-					}
-					else
-					{
-						result = reprap.GetNetwork().DisableProtocol(interface, protocol, reply);
+						const bool enable = (gb.GetIValue() == 1);
+						if (enable)
+						{
+							const int port = (gb.Seen('R')) ? gb.GetIValue() : -1;
+							const int secure = (gb.Seen('T')) ? gb.GetIValue() : -1;
+							result = reprap.GetNetwork().EnableProtocol(interface, protocol, port, secure, reply);
+						}
+						else
+						{
+							result = reprap.GetNetwork().DisableProtocol(interface, protocol, reply);
+						}
 					}
 				}
+				else
+				{
+					// Default to reporting current protocols if P or S parameter missing
+					result = reprap.GetNetwork().ReportProtocols(interface, reply);
+				}
 			}
-			else
-			{
-				// Default to reporting current protocols if P or S parameter missing
-				result = reprap.GetNetwork().ReportProtocols(interface, reply);
-			}
-		}
-		break;
+			break;
 
 #if HAS_WIFI_NETWORKING
-	case 587:	// Add WiFi network or list remembered networks
-	case 588:	// Forget WiFi network
-	case 589:	// Configure access point
-		if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
-		{
-			result = reprap.GetNetwork().HandleWiFiCode(code, gb, reply, outBuf);
-		}
-		break;
+		case 587:	// Add WiFi network or list remembered networks
+		case 588:	// Forget WiFi network
+		case 589:	// Configure access point
+			if (!gb.MachineState().runningM502)			// when running M502 we don't execute network-related commands
+			{
+				result = reprap.GetNetwork().HandleWiFiCode(code, gb, reply, outBuf);
+			}
+			break;
 #endif
 
-	case 591: // Configure filament sensor
-		if (gb.Seen('D'))
-		{
-			const unsigned int extruder = gb.GetUIValue();
-			if (extruder < numExtruders)
+		case 591: // Configure filament sensor
 			{
-				result = FilamentMonitor::Configure(gb, reply, extruder);
+				gb.MustSee('D');
+				const unsigned int extruder = gb.GetUIValue();
+				if (extruder < numExtruders)
+				{
+					result = FilamentMonitor::Configure(gb, reply, extruder);
+				}
 			}
-		}
-		break;
+			break;
 
 #if SUPPORT_NONLINEAR_EXTRUSION
-	case 592: // Configure nonlinear extrusion
-		if (gb.Seen('D'))
-		{
-			const unsigned int extruder = gb.GetUIValue();
-			bool seen = false;
-			float a = 0.0, b = 0.0, limit = DefaultNonlinearExtrusionLimit;
-			gb.TryGetFValue('A', a, seen);
-			gb.TryGetFValue('B', b, seen);
-			gb.TryGetFValue('L', limit, seen);
-			if (seen)
+		case 592: // Configure nonlinear extrusion
 			{
-				platform.SetNonlinearExtrusion(extruder, a, b, limit);
-			}
-			else
-			{
-				platform.GetExtrusionCoefficients(extruder, a, b, limit);
-				reply.printf("Drive %u nonlinear extrusion coefficients: A=%.3f, B=%.4f, limit=%.2f", extruder, (double)a, (double)b, (double)limit);
+				gb.MustSee('D');
+				const unsigned int extruder = gb.GetUIValue();
+				bool seen = false;
+				float a = 0.0, b = 0.0, limit = DefaultNonlinearExtrusionLimit;
+				gb.TryGetFValue('A', a, seen);
+				gb.TryGetFValue('B', b, seen);
+				gb.TryGetFValue('L', limit, seen);
+				if (seen)
+				{
+					platform.SetNonlinearExtrusion(extruder, a, b, limit);
+				}
+				else
+				{
+					platform.GetExtrusionCoefficients(extruder, a, b, limit);
+					reply.printf("Drive %u nonlinear extrusion coefficients: A=%.3f, B=%.4f, limit=%.2f", extruder, (double)a, (double)b, (double)limit);
+				}
 			}
-		}
-		break;
+			break;
 #endif
 
-	case 593: // Configure dynamic ringing cancellation
-		result = reprap.GetMove().ConfigureDynamicAcceleration(gb, reply);
-		break;
+		case 593: // Configure dynamic ringing cancellation
+			result = reprap.GetMove().ConfigureDynamicAcceleration(gb, reply);
+			break;
 
 #if SUPPORT_ASYNC_MOVES
-	case 594:	// Enter or leave height following mode
-		result = reprap.GetMove().StartHeightFollowing(gb, reply);
-		break;
+		case 594:	// Enter or leave height following mode
+			result = reprap.GetMove().StartHeightFollowing(gb, reply);
+			break;
 #endif
 
-	// For case 600, see 226
+		// For case 600, see 226
 
-	// M650 (set peel move parameters) and M651 (execute peel move) are no longer handled specially. Use macros to specify what they should do.
+		// M650 (set peel move parameters) and M651 (execute peel move) are no longer handled specially. Use macros to specify what they should do.
 
-	case 665: // Set delta configuration
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		{
-			Move& move = reprap.GetMove();
-
-			bool changedMode = false;
-			if ((gb.Seen('L') || gb.Seen('D')) && move.GetKinematics().GetKinematicsType() != KinematicsType::linearDelta)
+		case 665: // Set delta configuration
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				// Not in delta mode, so switch to it
-				changedMode = true;
-				move.SetKinematics(KinematicsType::linearDelta);
+				return false;
 			}
-			bool error = false;
-			const bool changed = move.GetKinematics().Configure(code, gb, reply, error);
-			if (changedMode)
 			{
-				move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords);
-				ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);
+				Move& move = reprap.GetMove();
+
+				bool changedMode = false;
+				if ((gb.Seen('L') || gb.Seen('D')) && move.GetKinematics().GetKinematicsType() != KinematicsType::linearDelta)
+				{
+					// Not in delta mode, so switch to it
+					changedMode = true;
+					move.SetKinematics(KinematicsType::linearDelta);
+				}
+				bool error = false;
+				const bool changed = move.GetKinematics().Configure(code, gb, reply, error);
+				if (changedMode)
+				{
+					move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords);
+					ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);
+				}
+				if (changed || changedMode)
+				{
+					if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, nullptr, numVisibleAxes, axesHomed, false, false) != LimitPositionResult::ok)
+					{
+						ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);	// make sure the limits are reflected in the user position
+					}
+					reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
+					SetAllAxesNotHomed();
+				}
+				result = GetGCodeResultFromError(error);
+			}
+			break;
+
+		case 666: // Set delta endstop adjustments
+			if (!LockMovementAndWaitForStandstill(gb))
+			{
+				return false;
 			}
-			if (changed || changedMode)
 			{
-				if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, nullptr, numVisibleAxes, axesHomed, false, false) != LimitPositionResult::ok)
+				bool error = false;
+				const bool changed = reprap.GetMove().GetKinematics().Configure(code, gb, reply, error);
+				if (changed)
 				{
-					ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);	// make sure the limits are reflected in the user position
+					SetAllAxesNotHomed();
 				}
-				reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
-				SetAllAxesNotHomed();
+				result = GetGCodeResultFromError(error);
 			}
-			result = GetGCodeResultFromError(error);
-		}
-		break;
+			break;
 
-	case 666: // Set delta endstop adjustments
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		{
-			bool error = false;
-			const bool changed = reprap.GetMove().GetKinematics().Configure(code, gb, reply, error);
-			if (changed)
+		case 667: // Set CoreXY mode
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				SetAllAxesNotHomed();
+				return false;
 			}
-			result = GetGCodeResultFromError(error);
-		}
-		break;
-
-	case 667: // Set CoreXY mode
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		{
-			Move& move = reprap.GetMove();
-			const KinematicsType oldK = move.GetKinematics().GetKinematicsType();		// get the current kinematics type so we can tell whether it changed
-
-			bool seen = false;
-			if (gb.Seen('S'))
 			{
-				// Switch to the correct CoreXY mode
-				const int mode = gb.GetIValue();
-				switch (mode)
+				Move& move = reprap.GetMove();
+				const KinematicsType oldK = move.GetKinematics().GetKinematicsType();		// get the current kinematics type so we can tell whether it changed
+
+				bool seen = false;
+				if (gb.Seen('S'))
 				{
-				case 0:
-					move.SetKinematics(KinematicsType::cartesian);
-					break;
+					// Switch to the correct CoreXY mode
+					const int mode = gb.GetIValue();
+					switch (mode)
+					{
+					case 0:
+						move.SetKinematics(KinematicsType::cartesian);
+						break;
 
-				case 1:
-					move.SetKinematics(KinematicsType::coreXY);
-					break;
+					case 1:
+						move.SetKinematics(KinematicsType::coreXY);
+						break;
 
-				case 2:
-					move.SetKinematics(KinematicsType::coreXZ);
-					break;
+					case 2:
+						move.SetKinematics(KinematicsType::coreXZ);
+						break;
 
-				default:
-					reply.printf("Mode %d is not valid", mode);
-					result = GCodeResult::error;
-					break;
+					default:
+						reply.printf("Mode %d is not valid", mode);
+						result = GCodeResult::error;
+						break;
+					}
+					seen = true;
+				}
+
+				if (result == GCodeResult::ok)
+				{
+					if (gb.Seen('X') || gb.Seen('Y') || gb.Seen('Z'))
+					{
+						reply.copy("M667 XYZ parameters are no longer supported, use M669 matrix parameters instead");
+						result = GCodeResult::error;
+					}
+
+					if (seen)
+					{
+						// We changed something, so reset the positions and set all axes not homed
+						if (move.GetKinematics().GetKinematicsType() != oldK)
+						{
+							move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords);
+							ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);
+						}
+						if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, nullptr, numVisibleAxes, axesHomed, false, false) != LimitPositionResult::ok)
+						{
+							ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);	// make sure the limits are reflected in the user position
+						}
+						reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
+						SetAllAxesNotHomed();
+					}
 				}
-				seen = true;
 			}
+			break;
 
-			if (result == GCodeResult::ok)
+		case 669:	// Set kinematics and parameters for SCARA and other kinematics that don't use M665, M666 or M667
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				if (gb.Seen('X') || gb.Seen('Y') || gb.Seen('Z'))
+				return false;
+			}
+			{
+				Move& move = reprap.GetMove();
+				const KinematicsType oldK = move.GetKinematics().GetKinematicsType();		// get the current kinematics type so we can tell whether it changed
+
+				bool seen = false;
+				if (gb.Seen('K'))
 				{
-					reply.copy("M667 XYZ parameters are no longer supported, use M669 matrix parameters instead");
-					result = GCodeResult::error;
+					const int nk = gb.GetIValue();
+					if (nk < 0 || nk >= (int)KinematicsType::unknown || !move.SetKinematics(static_cast<KinematicsType>(nk)))
+					{
+						reply.printf("Unknown kinematics type %d", nk);
+						result = GCodeResult::error;
+						break;
+					}
+					seen = true;
 				}
+				bool error = false;
+				if (move.GetKinematics().Configure(code, gb, reply, error))
+				{
+					seen = true;
+				}
+				result = GetGCodeResultFromError(error);
 
 				if (seen)
 				{
-					// We changed something, so reset the positions and set all axes not homed
+					// We changed something significant, so reset the positions and set all axes not homed
 					if (move.GetKinematics().GetKinematicsType() != oldK)
 					{
 						move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords);
@@ -3778,272 +3763,224 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 					SetAllAxesNotHomed();
 				}
 			}
-		}
-		break;
+			break;
 
-	case 669:	// Set kinematics and parameters for SCARA and other kinematics that don't use M665, M666 or M667
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		{
-			Move& move = reprap.GetMove();
-			const KinematicsType oldK = move.GetKinematics().GetKinematicsType();		// get the current kinematics type so we can tell whether it changed
+#if SUPPORT_IOBITS
+		case 670:
+			Move::CreateLaserTask();
+			result = GetGCodeResultFromError(reprap.GetPortControl().Configure(gb, reply));
+			break;
+#endif
 
-			bool seen = false;
-			if (gb.Seen('K'))
+		case 671:	// Set Z leadscrew positions
+			if (!LockMovementAndWaitForStandstill(gb))
 			{
-				const int nk = gb.GetIValue();
-				if (nk < 0 || nk >= (int)KinematicsType::unknown || !move.SetKinematics(static_cast<KinematicsType>(nk)))
-				{
-					reply.printf("Unknown kinematics type %d", nk);
-					result = GCodeResult::error;
-					break;
-				}
-				seen = true;
+				return false;
 			}
-			bool error = false;
-			if (move.GetKinematics().Configure(code, gb, reply, error))
 			{
-				seen = true;
+				bool error = false;
+				(void)reprap.GetMove().GetKinematics().Configure(code, gb, reply, error);
+				result = GetGCodeResultFromError(error);
 			}
-			result = GetGCodeResultFromError(error);
+			break;
+
+		case 672: // Program Z probe
+			result = platform.GetEndstops().ProgramZProbe(gb, reply);
+			break;
 
-			if (seen)
+		case 673: // Align plane on rotary axis
+			if (numTotalAxes < U_AXIS)
 			{
-				// We changed something significant, so reset the positions and set all axes not homed
-				if (move.GetKinematics().GetKinematicsType() != oldK)
+				reply.copy("Insufficient axes configured");
+				result = GCodeResult::error;
+			}
+			else if (LockMovementAndWaitForStandstill(gb))
+			{
+				if (reprap.GetMove().GetNumProbedProbePoints() < 2)
 				{
-					move.GetKinematics().GetAssumedInitialPosition(numVisibleAxes, moveBuffer.coords);
-					ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);
+					reply.copy("Insufficient probe points");
+					result = GCodeResult::error;
 				}
-				if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, nullptr, numVisibleAxes, axesHomed, false, false) != LimitPositionResult::ok)
+				else if (!AllAxesAreHomed())
 				{
-					ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);	// make sure the limits are reflected in the user position
+					reply.copy("Home the axes first");
+					result = GCodeResult::error;
 				}
-				reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
-				SetAllAxesNotHomed();
-			}
-		}
-		break;
-
-#if SUPPORT_IOBITS
-	case 670:
-		Move::CreateLaserTask();
-		result = GetGCodeResultFromError(reprap.GetPortControl().Configure(gb, reply));
-		break;
-#endif
+				else
+				{
+					// See which rotary axis needs to be compensated (if any)
+					size_t axisToUse = 0;
+					for (size_t axis = U_AXIS; axis < numVisibleAxes; axis++)
+					{
+						if (gb.Seen(axisLetters[axis]))
+						{
+							axisToUse = axis;
+							break;
+						}
+					}
 
-	case 671:	// Set Z leadscrew positions
-		if (!LockMovementAndWaitForStandstill(gb))
-		{
-			return false;
-		}
-		{
-			bool error = false;
-			(void)reprap.GetMove().GetKinematics().Configure(code, gb, reply, error);
-			result = GetGCodeResultFromError(error);
-		}
-		break;
+					// Get the coordinates of the first two G30 points and calculate how far off the axis is
+					float x1, y1, x2, y2;
+					const float z1 = reprap.GetMove().GetProbeCoordinates(0, x1, y1, true);
+					const float z2 = reprap.GetMove().GetProbeCoordinates(1, x2, y2, true);
+					const float a1 = (x1 == x2) ? y1 : x1;
+					const float a2 = (x1 == x2) ? y2 : x2;
 
-	case 672: // Program Z probe
-		result = platform.GetEndstops().ProgramZProbe(gb, reply);
-		break;
+					// See what kind of compensation we need to perform
+					SetMoveBufferDefaults();
+					if (axisToUse != 0)
+					{
+						// An axis letter is given, so try to level the given axis
+						const float correctionAngle = atanf((z2 - z1) / (a2 - a1)) * 180.0 / M_PI;
+						const float correctionFactor = gb.Seen('S') ? gb.GetFValue() : 1.0;
+						moveBuffer.coords[axisToUse] += correctionAngle * correctionFactor;
 
-	case 673: // Align plane on rotary axis
-		if (numTotalAxes < U_AXIS)
-		{
-			reply.copy("Insufficient axes configured");
-			result = GCodeResult::error;
-		}
-		else if (LockMovementAndWaitForStandstill(gb))
-		{
-			if (reprap.GetMove().GetNumProbedProbePoints() < 2)
-			{
-				reply.copy("Insufficient probe points");
-				result = GCodeResult::error;
-			}
-			else if (!AllAxesAreHomed())
-			{
-				reply.copy("Home the axes first");
-				result = GCodeResult::error;
-			}
-			else
-			{
-				// See which rotary axis needs to be compensated (if any)
-				size_t axisToUse = 0;
-				for (size_t axis = U_AXIS; axis < numVisibleAxes; axis++)
-				{
-					if (gb.Seen(axisLetters[axis]))
+						reply.printf("%c axis is off by %.2f deg", axisLetters[axisToUse], (double)correctionAngle);
+						HandleReply(gb, GCodeResult::notFinished, reply.c_str());
+					}
+					else if (reprap.GetMove().GetNumProbedProbePoints() >= 4)
 					{
-						axisToUse = axis;
+						// At least four G30 points are given. This lets us figure out how far off the centre of the axis is
+						const float z3 = reprap.GetMove().GetProbeCoordinates(2, x1, y1, true);
+						const float z4 = reprap.GetMove().GetProbeCoordinates(3, x2, y2, true);
+						const float a3 = (x1 == x2) ? y1 : x1;
+						const float a4 = (x1 == x2) ? y2 : x2;
+
+						// Calculate intersection points in [XY] and Z directions
+						const float aS = ((a4 - a3) * (a2 * z1 - a1 * z2) - (a2 - a1) * (a4 * z3 - a3 * z4)) /
+								((z4 - z3) * (a2 - a1) - (z2 - z1) * (a4 - a3));
+						const float zS = ((z1 - z2) * (a4 * z3 - a3 * z4) - (z3 - z4) * (a2 * z1 - a1 * z2)) /
+								((z4 - z3) * (a2 - a1) - (z2 - z1) * (a4 - a3));
+						moveBuffer.coords[(x1 == x2) ? Y_AXIS : X_AXIS] += aS;
+						moveBuffer.coords[Z_AXIS] += zS;
+
+						reply.printf("%c is offset by %.2fmm, Z is offset by %.2fmm", (x2 == x1) ? 'Y' : 'X', (double)aS, (double)zS);
+						HandleReply(gb, GCodeResult::notFinished, reply.c_str());
+					}
+					else
+					{
+						reply.copy("No rotary axis letter and/or not enough probe points for rotary axis alignment");
+						result = GCodeResult::error;
 						break;
 					}
-				}
-
-				// Get the coordinates of the first two G30 points and calculate how far off the axis is
-				float x1, y1, x2, y2;
-				const float z1 = reprap.GetMove().GetProbeCoordinates(0, x1, y1, true);
-				const float z2 = reprap.GetMove().GetProbeCoordinates(1, x2, y2, true);
-				const float a1 = (x1 == x2) ? y1 : x1;
-				const float a2 = (x1 == x2) ? y2 : x2;
 
-				// See what kind of compensation we need to perform
-				SetMoveBufferDefaults();
-				if (axisToUse != 0)
-				{
-					// An axis letter is given, so try to level the given axis
-					const float correctionAngle = atanf((z2 - z1) / (a2 - a1)) * 180.0 / M_PI;
-					const float correctionFactor = gb.Seen('S') ? gb.GetFValue() : 1.0;
-					moveBuffer.coords[axisToUse] += correctionAngle * correctionFactor;
+					// Get the feedrate (if any) and kick off a new move
+					if (gb.Seen(feedrateLetter))
+					{
+						const float rate = gb.ConvertDistance(gb.GetFValue());
+						gb.MachineState().feedRate = rate * SecondsToMinutes;		// don't apply the speed factor
+					}
+					moveBuffer.feedRate = gb.MachineState().feedRate;
+					moveBuffer.usingStandardFeedrate = true;
+					NewMoveAvailable(1);
 
-					reply.printf("%c axis is off by %.2f deg", axisLetters[axisToUse], (double)correctionAngle);
-					HandleReply(gb, GCodeResult::notFinished, reply.c_str());
+					gb.SetState(GCodeState::waitingForSpecialMoveToComplete);
 				}
-				else if (reprap.GetMove().GetNumProbedProbePoints() >= 4)
-				{
-					// At least four G30 points are given. This lets us figure out how far off the centre of the axis is
-					const float z3 = reprap.GetMove().GetProbeCoordinates(2, x1, y1, true);
-					const float z4 = reprap.GetMove().GetProbeCoordinates(3, x2, y2, true);
-					const float a3 = (x1 == x2) ? y1 : x1;
-					const float a4 = (x1 == x2) ? y2 : x2;
-
-					// Calculate intersection points in [XY] and Z directions
-					const float aS = ((a4 - a3) * (a2 * z1 - a1 * z2) - (a2 - a1) * (a4 * z3 - a3 * z4)) /
-							((z4 - z3) * (a2 - a1) - (z2 - z1) * (a4 - a3));
-					const float zS = ((z1 - z2) * (a4 * z3 - a3 * z4) - (z3 - z4) * (a2 * z1 - a1 * z2)) /
-							((z4 - z3) * (a2 - a1) - (z2 - z1) * (a4 - a3));
-					moveBuffer.coords[(x1 == x2) ? Y_AXIS : X_AXIS] += aS;
-					moveBuffer.coords[Z_AXIS] += zS;
+			}
+			else
+			{
+				result = GCodeResult::notFinished;
+			}
+			break;
 
-					reply.printf("%c is offset by %.2fmm, Z is offset by %.2fmm", (x2 == x1) ? 'Y' : 'X', (double)aS, (double)zS);
-					HandleReply(gb, GCodeResult::notFinished, reply.c_str());
-				}
-				else
+#if false
+		// This code is not finished yet
+		case 674: // Set Z to center point
+			if (LockMovementAndWaitForStandstill(gb))
+			{
+				if (reprap.GetMove().GetNumProbedProbePoints() < 2)
 				{
-					reply.copy("No rotary axis letter and/or not enough probe points for rotary axis alignment");
+					reply.copy("Insufficient probe points");
 					result = GCodeResult::error;
-					break;
 				}
-
-				// Get the feedrate (if any) and kick off a new move
-				if (gb.Seen(feedrateLetter))
+				else if (!AllAxesAreHomed())
 				{
-					const float rate = gb.ConvertDistance(gb.GetFValue());
-					gb.MachineState().feedRate = rate * SecondsToMinutes;		// don't apply the speed factor
+					reply.copy("Home the axes first");
+					result = GCodeResult::error;
 				}
-				moveBuffer.feedRate = gb.MachineState().feedRate;
-				moveBuffer.usingStandardFeedrate = true;
-				NewMoveAvailable(1);
-
-				gb.SetState(GCodeState::waitingForSpecialMoveToComplete);
-			}
-		}
-		else
-		{
-			result = GCodeResult::notFinished;
-		}
-		break;
+				else
+				{
+					float x, y;
+					const float z1 = reprap.GetMove().GetProbeCoordinates(0, x, y, true);
+					const float z2 = reprap.GetMove().GetProbeCoordinates(1, x, y, true);
+					const float offset = gb.Seen('P') ? gb.GetFValue() : 0.0;
+					currentUserPosition[Z_AXIS] -= (z1 + z2) / 2.0 + offset;
 
-#if false
-	// This code is not finished yet
-	case 674: // Set Z to center point
-		if (LockMovementAndWaitForStandstill(gb))
-		{
-			if (reprap.GetMove().GetNumProbedProbePoints() < 2)
-			{
-				reply.copy("Insufficient probe points");
-				result = GCodeResult::error;
-			}
-			else if (!AllAxesAreHomed())
-			{
-				reply.copy("Home the axes first");
-				result = GCodeResult::error;
-			}
-			else
-			{
-				float x, y;
-				const float z1 = reprap.GetMove().GetProbeCoordinates(0, x, y, true);
-				const float z2 = reprap.GetMove().GetProbeCoordinates(1, x, y, true);
-				const float offset = gb.Seen('P') ? gb.GetFValue() : 0.0;
-				currentUserPosition[Z_AXIS] -= (z1 + z2) / 2.0 + offset;
+					ToolOffsetTransform(currentUserPosition, moveBuffer.coords);
+					if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, LowestNBits<AxesBitmap>(numVisibleAxes), false))	// pretend that all axes are homed
+					{
+						ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);		// make sure the limits are reflected in the user position
+					}
+					reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
+					axesHomed |= reprap.GetMove().GetKinematics().AxesAssumedHomed(MakeBitmap<AxesBitmap>(Z_AXIS));
 
-				ToolOffsetTransform(currentUserPosition, moveBuffer.coords);
-				if (reprap.GetMove().GetKinematics().LimitPosition(moveBuffer.coords, numVisibleAxes, LowestNBits<AxesBitmap>(numVisibleAxes), false))	// pretend that all axes are homed
-				{
-					ToolOffsetInverseTransform(moveBuffer.coords, currentUserPosition);		// make sure the limits are reflected in the user position
+					reply.printf("Probe points at %.2f %.2f, setting new Z to %.2f", (double)z1, (double)z2, (double)currentUserPosition[Z_AXIS]);
 				}
-				reprap.GetMove().SetNewPosition(moveBuffer.coords, true);
-				axesHomed |= reprap.GetMove().GetKinematics().AxesAssumedHomed(MakeBitmap<AxesBitmap>(Z_AXIS));
-
-				reply.printf("Probe points at %.2f %.2f, setting new Z to %.2f", (double)z1, (double)z2, (double)currentUserPosition[Z_AXIS]);
 			}
-		}
-		break;
+			break;
 #endif
 
-	case 675: // Find center of cavity
-		result = FindCenterOfCavity(gb, reply);
-		break;
+		case 675: // Find center of cavity
+			result = FindCenterOfCavity(gb, reply);
+			break;
 
-	case 701: // Load filament
-		result = LoadFilament(gb, reply);
-		break;
+		case 701: // Load filament
+			result = LoadFilament(gb, reply);
+			break;
 
-	case 702: // Unload filament
-		result = UnloadFilament(gb, reply);
-		break;
+		case 702: // Unload filament
+			result = UnloadFilament(gb, reply);
+			break;
 
-	case 703: // Configure Filament
-		if (reprap.GetCurrentTool() != nullptr)
-		{
-			const Filament *filament = reprap.GetCurrentTool()->GetFilament();
-			if (filament != nullptr && filament->IsLoaded())
+		case 703: // Configure Filament
+			if (reprap.GetCurrentTool() != nullptr)
 			{
-				String<ScratchStringLength> scratchString;
-				scratchString.printf("%s%s/%s", FILAMENTS_DIRECTORY, filament->GetName(), CONFIG_FILAMENT_G);
-				DoFileMacro(gb, scratchString.c_str(), false, 703);
+				const Filament *filament = reprap.GetCurrentTool()->GetFilament();
+				if (filament != nullptr && filament->IsLoaded())
+				{
+					String<ScratchStringLength> scratchString;
+					scratchString.printf("%s%s/%s", FILAMENTS_DIRECTORY, filament->GetName(), CONFIG_FILAMENT_G);
+					DoFileMacro(gb, scratchString.c_str(), false, 703);
+				}
 			}
-		}
-		else
-		{
-			result = GCodeResult::error;
-			reply.copy("No tool selected");
-		}
-		break;
+			else
+			{
+				result = GCodeResult::error;
+				reply.copy("No tool selected");
+			}
+			break;
 
 #if SUPPORT_SCANNER
-	case 750: // Enable 3D scanner extension
-		reprap.GetScanner().Enable();
-		break;
+		case 750: // Enable 3D scanner extension
+			reprap.GetScanner().Enable();
+			break;
 
-	case 751: // Register 3D scanner extension over USB
-		if (&gb == usbGCode)
-		{
-			if (reprap.GetScanner().IsEnabled())
+		case 751: // Register 3D scanner extension over USB
+			if (&gb == usbGCode)
 			{
-				reprap.GetScanner().Register();
+				if (reprap.GetScanner().IsEnabled())
+				{
+					reprap.GetScanner().Register();
+				}
+				else
+				{
+					reply.copy("Scanner extension is not enabled");
+					result = GCodeResult::error;
+				}
 			}
 			else
 			{
-				reply.copy("Scanner extension is not enabled");
+				reply.copy("Invalid source");
 				result = GCodeResult::error;
 			}
-		}
-		else
-		{
-			reply.copy("Invalid source");
-			result = GCodeResult::error;
-		}
-		break;
+			break;
 
-	case 752: // Start 3D scan
-		if (gb.Seen('P'))
-		{
-			String<MaxFilenameLength> file;
-			gb.GetPossiblyQuotedString(file.GetRef());
-			if (gb.Seen('S'))
+		case 752: // Start 3D scan
 			{
+				gb.MustSee('P');
+				String<MaxFilenameLength> file;
+				gb.GetPossiblyQuotedString(file.GetRef());
+				gb.MustSee('S');
 				const int range = gb.GetIValue();
 				if (reprap.GetScanner().IsEnabled())
 				{
@@ -4065,402 +4002,397 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply)
 					result = GCodeResult::error;
 				}
 			}
-			else
-			{
-				reply.copy("Missing length/degree parameter");
-				result = GCodeResult::error;
-			}
-		}
-		else
-		{
-			reply.copy("Missing filename");
-			result = GCodeResult::error;
-		}
-		break;
+			break;
 
-	case 753: // Cancel current 3D scanner action
-		if (reprap.GetScanner().IsEnabled())
-		{
-			if (reprap.GetScanner().IsRegistered())
+		case 753: // Cancel current 3D scanner action
+			if (reprap.GetScanner().IsEnabled())
 			{
-				result = GetGCodeResultFromFinished(reprap.GetScanner().Cancel());
+				if (reprap.GetScanner().IsRegistered())
+				{
+					result = GetGCodeResultFromFinished(reprap.GetScanner().Cancel());
+				}
+				else
+				{
+					reply.copy("Scanner is not registered");
+					result = GCodeResult::error;
+				}
 			}
 			else
 			{
-				reply.copy("Scanner is not registered");
+				reply.copy("Scanner extension is not enabled");
 				result = GCodeResult::error;
 			}
-		}
-		else
-		{
-			reply.copy("Scanner extension is not enabled");
-			result = GCodeResult::error;
-		}
-		break;
+			break;
 
-	case 754: // Calibrate scanner
-		if (reprap.GetScanner().IsEnabled())
-		{
-			if (reprap.GetScanner().IsRegistered())
+		case 754: // Calibrate scanner
+			if (reprap.GetScanner().IsEnabled())
 			{
-				const int mode = gb.Seen('N') ? gb.GetIValue() : 0;
-				result = GetGCodeResultFromFinished(reprap.GetScanner().Calibrate(mode));
+				if (reprap.GetScanner().IsRegistered())
+				{
+					const int mode = gb.Seen('N') ? gb.GetIValue() : 0;
+					result = GetGCodeResultFromFinished(reprap.GetScanner().Calibrate(mode));
+				}
+				else
+				{
+					reply.copy("Scanner is not registered");
+					result = GCodeResult::error;
+				}
 			}
 			else
 			{
-				reply.copy("Scanner is not registered");
+				reply.copy("Scanner extension is not enabled");
 				result = GCodeResult::error;
 			}
-		}
-		else
-		{
-			reply.copy("Scanner extension is not enabled");
-			result = GCodeResult::error;
-		}
-		break;
+			break;
 
-	case 755: // Set alignment mode for 3D scanner
-		if (reprap.GetScanner().IsEnabled())
-		{
-			if (reprap.GetScanner().IsRegistered())
+		case 755: // Set alignment mode for 3D scanner
+			if (reprap.GetScanner().IsEnabled())
 			{
-				const bool on = (gb.Seen('P') && gb.GetIValue() > 0);
-				result = GetGCodeResultFromFinished(reprap.GetScanner().SetAlignment(on));
+				if (reprap.GetScanner().IsRegistered())
+				{
+					const bool on = (gb.Seen('P') && gb.GetIValue() > 0);
+					result = GetGCodeResultFromFinished(reprap.GetScanner().SetAlignment(on));
+				}
+				else
+				{
+					reply.copy("Scanner is not registered");
+					result = GCodeResult::error;
+				}
 			}
 			else
 			{
-				reply.copy("Scanner is not registered");
+				reply.copy("Scanner extension is not enabled");
 				result = GCodeResult::error;
 			}
-		}
-		else
-		{
-			reply.copy("Scanner extension is not enabled");
-			result = GCodeResult::error;
-		}
-		break;
+			break;
 
-	case 756: // Shutdown 3D scanner
-		if (reprap.GetScanner().IsEnabled())
-		{
-			if (reprap.GetScanner().IsRegistered())
+		case 756: // Shutdown 3D scanner
+			if (reprap.GetScanner().IsEnabled())
 			{
-				result = GetGCodeResultFromFinished(reprap.GetScanner().Shutdown());
+				if (reprap.GetScanner().IsRegistered())
+				{
+					result = GetGCodeResultFromFinished(reprap.GetScanner().Shutdown());
+				}
+				else
+				{
+					reply.copy("Scanner is not registered");
+					result = GCodeResult::error;
+				}
 			}
 			else
 			{
-				reply.copy("Scanner is not registered");
+				reply.copy("Scanner extension is not enabled");
 				result = GCodeResult::error;
 			}
-		}
-		else
-		{
-			reply.copy("Scanner extension is not enabled");
-			result = GCodeResult::error;
-		}
-		break;
+			break;
 #else
-	case 750:
-	case 751:
-	case 752:
-	case 753:
-	case 754:
-	case 755:
-	case 756:
-		reply.copy("Scanner support not built-in");
-		result = GCodeResult::error;
-		break;
+		case 750:
+		case 751:
+		case 752:
+		case 753:
+		case 754:
+		case 755:
+		case 756:
+			reply.copy("Scanner support not built-in");
+			result = GCodeResult::error;
+			break;
 #endif
 
-	case 851: // Set Z probe offset, only for Marlin compatibility
-		{
-			ZProbe& zp = platform.GetCurrentZProbe();
-			if (gb.Seen('Z'))
-			{
-				zp.SetTriggerHeight(-gb.GetFValue());
-				zp.SetSaveToConfigOverride();
-			}
-			else
+		case 851: // Set Z probe offset, only for Marlin compatibility
 			{
-				reply.printf("Z probe offset is %.2fmm", (double)(-zp.GetConfiguredTriggerHeight()));
+				ZProbe& zp = platform.GetCurrentZProbe();
+				if (gb.Seen('Z'))
+				{
+					zp.SetTriggerHeight(-gb.GetFValue());
+					zp.SetSaveToConfigOverride();
+				}
+				else
+				{
+					reply.printf("Z probe offset is %.2fmm", (double)(-zp.GetConfiguredTriggerHeight()));
+				}
 			}
-		}
-		break;
+			break;
 
-	case 905: // Set current RTC date and time
-		result = SetDateTime(gb, reply);
-		break;
+		case 905: // Set current RTC date and time
+			result = SetDateTime(gb, reply);
+			break;
 
-	case 906: // Set/report Motor currents
-	case 913: // Set/report motor current percent
+		case 906: // Set/report Motor currents
+		case 913: // Set/report motor current percent
 #if HAS_SMART_DRIVERS
-	case 917: // Set/report standstill motor current percentage
+		case 917: // Set/report standstill motor current percentage
 #endif
-		// Note that we no longer wait for movement to stop. This is so that we can use these commands (in particular, M913) in the M911 power fail script.
-		{
-			bool seen = false;
-			for (size_t axis = 0; axis < numTotalAxes; axis++)
+			// Note that we no longer wait for movement to stop. This is so that we can use these commands (in particular, M913) in the M911 power fail script.
 			{
-				if (gb.Seen(axisLetters[axis]))
+				bool seen = false;
+				for (size_t axis = 0; axis < numTotalAxes; axis++)
 				{
-					if (!platform.SetMotorCurrent(axis, gb.GetFValue(), code, reply))
+					if (gb.Seen(axisLetters[axis]))
 					{
-						result = GCodeResult::error;
+						if (!platform.SetMotorCurrent(axis, gb.GetFValue(), code, reply))
+						{
+							result = GCodeResult::error;
+						}
+						seen = true;
 					}
-					seen = true;
 				}
-			}
 
-			if (gb.Seen(extrudeLetter))
-			{
-				seen = true;
-				float eVals[MaxExtruders];
-				size_t eCount = numExtruders;
-				gb.GetFloatArray(eVals, eCount, true);
-				for (size_t e = 0; e < eCount; e++)
+				if (gb.Seen(extrudeLetter))
 				{
-					if (!platform.SetMotorCurrent(ExtruderToLogicalDrive(e), eVals[e], code, reply))
+					seen = true;
+					float eVals[MaxExtruders];
+					size_t eCount = numExtruders;
+					gb.GetFloatArray(eVals, eCount, true);
+					for (size_t e = 0; e < eCount; e++)
 					{
-						result = GCodeResult::error;
+						if (!platform.SetMotorCurrent(ExtruderToLogicalDrive(e), eVals[e], code, reply))
+						{
+							result = GCodeResult::error;
+						}
 					}
 				}
-			}
 
-			if (code == 906 && gb.Seen('I'))
-			{
-				seen = true;
-				platform.SetIdleCurrentFactor(gb.GetFValue()/100.0);
-			}
+				if (code == 906 && gb.Seen('I'))
+				{
+					seen = true;
+					platform.SetIdleCurrentFactor(gb.GetFValue()/100.0);
+				}
 
-			if (!seen)
-			{
-				reply.copy(	(code == 913) ? "Motor current % of normal - "
+				if (!seen)
+				{
+					reply.copy(	(code == 913) ? "Motor current % of normal - "
 #if HAS_SMART_DRIVERS
 								: (code == 917) ? "Motor standstill current % of normal - "
 #endif
-									: "Motor current (mA) - "
-						);
-				for (size_t axis = 0; axis < numTotalAxes; ++axis)
-				{
-					reply.catf("%c:%d, ", axisLetters[axis], (int)platform.GetMotorCurrent(axis, code));
-				}
-				reply.cat("E");
-				for (size_t extruder = 0; extruder < numExtruders; extruder++)
-				{
-					reply.catf(":%d", (int)platform.GetMotorCurrent(ExtruderToLogicalDrive(extruder), code));
-				}
-				if (code == 906)
-				{
-					reply.catf(", idle factor %d%%", (int)(platform.GetIdleCurrentFactor() * 100.0));
+										: "Motor current (mA) - "
+							);
+					for (size_t axis = 0; axis < numTotalAxes; ++axis)
+					{
+						reply.catf("%c:%d, ", axisLetters[axis], (int)platform.GetMotorCurrent(axis, code));
+					}
+					reply.cat("E");
+					for (size_t extruder = 0; extruder < numExtruders; extruder++)
+					{
+						reply.catf(":%d", (int)platform.GetMotorCurrent(ExtruderToLogicalDrive(extruder), code));
+					}
+					if (code == 906)
+					{
+						reply.catf(", idle factor %d%%", (int)(platform.GetIdleCurrentFactor() * 100.0));
+					}
 				}
 			}
-		}
-		break;
+			break;
 
 #if HAS_VOLTAGE_MONITOR
-	case 911: // Enable auto save on loss of power
-		if (gb.Seen('S'))
-		{
-			const float saveVoltage = gb.GetFValue();
-			if (saveVoltage < 10.0)
+		case 911: // Enable auto save on loss of power
+			if (gb.Seen('S'))
 			{
-				platform.DisableAutoSave();
+				const float saveVoltage = gb.GetFValue();
+				if (saveVoltage < 10.0)
+				{
+					platform.DisableAutoSave();
+				}
+				else
+				{
+					float resumeVoltage = saveVoltage + 1.0;		// set up default resume voltage
+					bool dummy;
+					gb.TryGetFValue('R', resumeVoltage, dummy);
+
+					String<80> powerFailString;
+					bool seenCommandString = false;
+					gb.TryGetQuotedString('P', powerFailString.GetRef(), seenCommandString);
+					if (seenCommandString)
+					{
+						// Replace the power fail script atomically
+						char *newPowerFailScript = new char[powerFailString.strlen() + 1];
+						strcpy(newPowerFailScript, powerFailString.c_str());
+						std::swap(newPowerFailScript, powerFailScript);
+						delete[] newPowerFailScript;
+					}
+					else if (powerFailScript == nullptr)
+					{
+						reply.copy("No power fail script provided");
+						result = GCodeResult::error;
+						break;
+					}
+					platform.EnableAutoSave(saveVoltage, resumeVoltage);
+				}
 			}
 			else
 			{
-				float resumeVoltage = saveVoltage + 1.0;		// set up default resume voltage
-				bool dummy;
-				gb.TryGetFValue('R', resumeVoltage, dummy);
-
-				String<80> powerFailString;
-				bool seenCommandString = false;
-				gb.TryGetQuotedString('P', powerFailString.GetRef(), seenCommandString);
-				if (seenCommandString)
+				float saveVoltage, resumeVoltage;
+				if (platform.GetAutoSaveSettings(saveVoltage, resumeVoltage))
 				{
-					// Replace the power fail script atomically
-					char *newPowerFailScript = new char[powerFailString.strlen() + 1];
-					strcpy(newPowerFailScript, powerFailString.c_str());
-					std::swap(newPowerFailScript, powerFailScript);
-					delete[] newPowerFailScript;
+					reply.printf("Auto save voltage %.1fV, resume %.1fV, script \"%s\"", (double)saveVoltage, (double)resumeVoltage, (powerFailScript == nullptr) ? "" : powerFailScript);
 				}
-				else if (powerFailScript == nullptr)
+				else
 				{
-					reply.copy("No power fail script provided");
-					result = GCodeResult::error;
-					break;
+					reply.copy("Auto save is disabled");
 				}
-				platform.EnableAutoSave(saveVoltage, resumeVoltage);
 			}
-		}
-		else
-		{
-			float saveVoltage, resumeVoltage;
-			if (platform.GetAutoSaveSettings(saveVoltage, resumeVoltage))
+			break;
+#endif
+
+#if HAS_CPU_TEMP_SENSOR
+		case 912: // Set electronics temperature monitor adjustment
+			// Currently we ignore the P parameter (i.e. temperature measurement channel)
+			if (gb.Seen('S'))
 			{
-				reply.printf("Auto save voltage %.1fV, resume %.1fV, script \"%s\"", (double)saveVoltage, (double)resumeVoltage, (powerFailScript == nullptr) ? "" : powerFailScript);
+				platform.SetMcuTemperatureAdjust(gb.GetFValue());
 			}
 			else
 			{
-				reply.copy("Auto save is disabled");
+				reply.printf("MCU temperature calibration adjustment is %.1f" DEGREE_SYMBOL "C", (double)platform.GetMcuTemperatureAdjust());
 			}
-		}
-		break;
-#endif
-
-#if HAS_CPU_TEMP_SENSOR
-	case 912: // Set electronics temperature monitor adjustment
-		// Currently we ignore the P parameter (i.e. temperature measurement channel)
-		if (gb.Seen('S'))
-		{
-			platform.SetMcuTemperatureAdjust(gb.GetFValue());
-		}
-		else
-		{
-			reply.printf("MCU temperature calibration adjustment is %.1f" DEGREE_SYMBOL "C", (double)platform.GetMcuTemperatureAdjust());
-		}
-		break;
+			break;
 #endif
 
 	// For case 913, see 906
 
 #if defined(__ALLIGATOR__)
-	case 914: 				// Set/Get J14 Expansion Voltage Level Translator on Port J5, 5.5V or 3.3V
-			  	  	  	  	// Get Piggy module presence status
-		if (gb.Seen('S'))
-		{
-			const int voltageValue = gb.GetIValue();
-			if (voltageValue != 5 && voltageValue != 3 )
+		case 914: 				// Set/Get J14 Expansion Voltage Level Translator on Port J5, 5.5V or 3.3V
+								// Get Piggy module presence status
+			if (gb.Seen('S'))
 			{
-				reply.printf("The Expansion Voltage Translator does not support %dV. \n Only 5V or 3V are supported.",voltageValue);
+				const int voltageValue = gb.GetIValue();
+				if (voltageValue != 5 && voltageValue != 3 )
+				{
+					reply.printf("The Expansion Voltage Translator does not support %dV. \n Only 5V or 3V are supported.",voltageValue);
+				}
+				else
+				{
+					// Change Voltage translator level
+					digitalWrite(ExpansionVoltageLevelPin, voltageValue == 5);
+				}
 			}
 			else
 			{
-				// Change Voltage translator level
-				digitalWrite(ExpansionVoltageLevelPin, voltageValue == 5);
+				// Change Voltage translator level Status
+				reply.printf("The Voltage of Expansion Translator is %dV \nPiggy module %s",
+						digitalRead(ExpansionVoltageLevelPin) ? 5 : 3 ,
+						digitalRead(ExpansionPiggyDetectPin) ? "not detected" : "detected");
 			}
-		}
-		else
-		{
-			// Change Voltage translator level Status
-			reply.printf("The Voltage of Expansion Translator is %dV \nPiggy module %s",
-					digitalRead(ExpansionVoltageLevelPin) ? 5 : 3 ,
-					digitalRead(ExpansionPiggyDetectPin) ? "not detected" : "detected");
-		}
-		break;
+			break;
 #endif
 
 #if HAS_STALL_DETECT
-	case 915:
-		result = platform.ConfigureStallDetection(gb, reply, outBuf);
-		break;
+		case 915:
+			result = platform.ConfigureStallDetection(gb, reply, outBuf);
+			break;
 #endif
 
 #if HAS_MASS_STORAGE
-	case 916:
-		if (!platform.SysFileExists(RESUME_AFTER_POWER_FAIL_G))
-		{
-			reply.copy("No resume file found");
-			result = GCodeResult::error;
-		}
-		else if (!platform.SysFileExists(RESUME_PROLOGUE_G))
-		{
-			reply.printf("Resume prologue file '%s' not found", RESUME_PROLOGUE_G);
-			result = GCodeResult::error;
-		}
-		else
-		{
-			DoFileMacro(gb, RESUME_AFTER_POWER_FAIL_G, true, 916);
-		}
-		break;
+		case 916:
+			if (!platform.SysFileExists(RESUME_AFTER_POWER_FAIL_G))
+			{
+				reply.copy("No resume file found");
+				result = GCodeResult::error;
+			}
+			else if (!platform.SysFileExists(RESUME_PROLOGUE_G))
+			{
+				reply.printf("Resume prologue file '%s' not found", RESUME_PROLOGUE_G);
+				result = GCodeResult::error;
+			}
+			else
+			{
+				DoFileMacro(gb, RESUME_AFTER_POWER_FAIL_G, true, 916);
+			}
+			break;
 #endif
 
 		// For case 917, see 906
 
 #if SUPPORT_12864_LCD
-	case 918: // Configure direct-connect display
-		result = reprap.GetDisplay().Configure(gb, reply);
-		break;
+		case 918: // Configure direct-connect display
+			result = reprap.GetDisplay().Configure(gb, reply);
+			break;
 #endif
 
-	case 929: // Start/stop event logging
+		case 929: // Start/stop event logging
 #if HAS_MASS_STORAGE
-		result = platform.ConfigureLogging(gb, reply);
+			result = platform.ConfigureLogging(gb, reply);
 #else
-		result = GCodeResult::warningNotSupported;
+			result = GCodeResult::warningNotSupported;
 #endif
-		break;
+			break;
 
-	case 950:	// configure I/O pins
-		result = platform.ConfigurePort(gb, reply);
-		break;
+		case 950:	// configure I/O pins
+			result = platform.ConfigurePort(gb, reply);
+			break;
 
 #if SUPPORT_ASYNC_MOVES
-	case 951:	// configure height control
-		result = reprap.GetMove().ConfigureHeightFollowing(gb, reply);
-		break;
+		case 951:	// configure height control
+			result = reprap.GetMove().ConfigureHeightFollowing(gb, reply);
+			break;
 #endif
 
-	case 997: // Perform firmware update
-		result = UpdateFirmware(gb, reply);
-		break;
+		case 997: // Perform firmware update
+			result = UpdateFirmware(gb, reply);
+			break;
 
-	case 998:
-		// The input handling code replaces the gcode by this when it detects a checksum error.
-		// Since we have no way of asking for the line to be re-sent, just report an error.
-		if (gb.Seen('P'))
-		{
-			const int val = gb.GetIValue();
-			if (val != 0)
+		case 998:
+			// The input handling code replaces the gcode by this when it detects a checksum error.
+			// Since we have no way of asking for the line to be re-sent, just report an error.
+			if (gb.Seen('P'))
 			{
-				reply.printf("Checksum error on line %d", val);
+				const int val = gb.GetIValue();
+				if (val != 0)
+				{
+					reply.printf("Checksum error on line %d", val);
+				}
 			}
-		}
-		break;
+			break;
 
-	case 999:
-		if (!gb.DoDwellTime(1000))		// wait a second to allow the response to be sent back to the web server, otherwise it may retry
-		{
-			return false;
-		}
+		case 999:
+			if (!gb.DoDwellTime(1000))		// wait a second to allow the response to be sent back to the web server, otherwise it may retry
+			{
+				return false;
+			}
 
-		reprap.EmergencyStop();			// this disables heaters and drives - Duet WiFi pre-production boards need drives disabled here
-		{
-			uint16_t reason = (uint16_t)SoftwareResetReason::user;
-			if (gb.Seen('P'))
+			reprap.EmergencyStop();			// this disables heaters and drives - Duet WiFi pre-production boards need drives disabled here
 			{
-				String<StringLength20> eraseString;
-				gb.GetQuotedString(eraseString.GetRef());
-				if (strcmp(eraseString.c_str(), "ERASE") == 0)
+				uint16_t reason = (uint16_t)SoftwareResetReason::user;
+				if (gb.Seen('P'))
 				{
-					reason = (uint16_t)SoftwareResetReason::erase;
+					String<StringLength20> eraseString;
+					gb.GetQuotedString(eraseString.GetRef());
+					if (strcmp(eraseString.c_str(), "ERASE") == 0)
+					{
+						reason = (uint16_t)SoftwareResetReason::erase;
+					}
 				}
+				platform.SoftwareReset(reason);			// doesn't return
 			}
-			platform.SoftwareReset(reason);			// doesn't return
-		}
-		break;
+			break;
 
-	default:
-		// See if there is a file in /sys named Mxx.g
-		if (code >= 0 && code < 10000)
-		{
-#if HAS_LINUX_INTERFACE
-			if (reprap.UsingLinuxInterface())
+		default:
+			// See if there is a file in /sys named Mxx.g
+			if (code >= 0 && code < 10000)
 			{
-				gb.SetState(GCodeState::doingUnsupportedCode);
-			}
+#if HAS_LINUX_INTERFACE
+				if (reprap.UsingLinuxInterface())
+				{
+					gb.SetState(GCodeState::doingUnsupportedCode);
+				}
 #endif
-			String<StringLength20> macroName;
-			macroName.printf("M%d.g", code);
-			if (DoFileMacro(gb, macroName.c_str(), false, code))
-			{
-				break;
+				String<StringLength20> macroName;
+				macroName.printf("M%d.g", code);
+				if (DoFileMacro(gb, macroName.c_str(), false, code))
+				{
+					break;
+				}
 			}
+			result = GCodeResult::warningNotSupported;
+			break;
 		}
-		result = GCodeResult::warningNotSupported;
-		break;
-	}
 
-	return HandleResult(gb, result, reply, outBuf);
+		return HandleResult(gb, result, reply, outBuf);
+	}
+	catch (const ParseException& e)
+	{
+		OutputBuffer::ReleaseAll(outBuf);
+		throw;
+	}
 }
 
 bool GCodes::HandleTcode(GCodeBuffer& gb, const StringRef& reply)
diff --git a/src/Hardware/IoPorts.cpp b/src/Hardware/IoPorts.cpp
index 96838934..4f7bf15a 100644
--- a/src/Hardware/IoPorts.cpp
+++ b/src/Hardware/IoPorts.cpp
@@ -25,12 +25,7 @@
 {
 	// Get the full port names string
 	String<StringLength50> portNames;
-	if (!gb.GetReducedString(portNames.GetRef()))
-	{
-		reply.copy("Missing port name string");
-		return 0;
-	}
-
+	gb.GetReducedString(portNames.GetRef());
 	return AssignPorts(portNames.c_str(), reply, neededFor, numPorts, ports, access);
 }
 
diff --git a/src/Heating/Heat.cpp b/src/Heating/Heat.cpp
index 8d7fb36f..baaf07e0 100644
--- a/src/Heating/Heat.cpp
+++ b/src/Heating/Heat.cpp
@@ -518,11 +518,7 @@ GCodeResult Heat::ConfigureHeater(size_t heater, GCodeBuffer& gb, const StringRe
 	if (gb.Seen('C'))
 	{
 		String<StringLength50> pinName;
-		if (!gb.GetReducedString(pinName.GetRef()))
-		{
-			reply.copy("Missing pin name");
-			return GCodeResult::error;
-		}
+		gb.GetReducedString(pinName.GetRef());
 
 		if (StringEqualsIgnoreCase(pinName.c_str(), NoPinName))
 		{
@@ -963,9 +959,15 @@ GCodeResult Heat::ConfigureSensor(GCodeBuffer& gb, const StringRef& reply) noexc
 		// Set boardAddress to the board number that the port is on, or NoAddress if the port was not given
 		CanAddress boardAddress;
 		String<StringLength20> portName;
-		boardAddress = (gb.Seen('P') && gb.GetReducedString(portName.GetRef()))
-						 ? IoPort::RemoveBoardAddress(portName.GetRef())
-							: CanId::NoAddress;
+		if (gb.Seen('P'))
+		{
+			gb.GetReducedString(portName.GetRef());
+			boardAddress = IoPort::RemoveBoardAddress(portName.GetRef());
+		}
+		else
+		{
+			boardAddress = CanId::NoAddress;
+		}
 #endif
 		bool newSensor = gb.Seen('Y');
 		if (newSensor)
@@ -975,11 +977,7 @@ GCodeResult Heat::ConfigureSensor(GCodeBuffer& gb, const StringRef& reply) noexc
 			DeleteSensor(sensorNum);
 
 			String<StringLength20> typeName;
-			if (!gb.GetReducedString(typeName.GetRef()))
-			{
-				reply.copy("Missing sensor type name");
-				return GCodeResult::error;
-			}
+			gb.GetReducedString(typeName.GetRef());
 
 #if SUPPORT_CAN_EXPANSION
 			if (boardAddress == CanId::NoAddress)
diff --git a/src/Heating/Sensors/AdditionalOutputSensor.cpp b/src/Heating/Sensors/AdditionalOutputSensor.cpp
index 496386bf..0b6cd84b 100644
--- a/src/Heating/Sensors/AdditionalOutputSensor.cpp
+++ b/src/Heating/Sensors/AdditionalOutputSensor.cpp
@@ -27,11 +27,7 @@ GCodeResult AdditionalOutputSensor::Configure(GCodeBuffer& gb, const StringRef&
 	{
 		seen = true;
 		String<StringLength20> pParam;
-		if (!gb.GetQuotedString(pParam.GetRef()))
-		{
-			reply.copy("Missing parent sensor and output number");
-			return GCodeResult::error;
-		}
+		gb.GetQuotedString(pParam.GetRef());
 
 		const char *pn = pParam.c_str();
 		if (*pn != 'S' && *pn != 's')
diff --git a/src/Linux/DataTransfer.cpp b/src/Linux/DataTransfer.cpp
index 2604202d..2d2acc35 100644
--- a/src/Linux/DataTransfer.cpp
+++ b/src/Linux/DataTransfer.cpp
@@ -533,7 +533,7 @@ bool DataTransfer::IsReady()
 		default:
 			// Should never get here. If we do, this probably means that StartNextTransfer has not been called
 			ExchangeHeader();
-			INTERNAL_ERROR;
+			REPORT_INTERNAL_ERROR;
 			break;
 		}
 	}
diff --git a/src/Linux/LinuxInterface.cpp b/src/Linux/LinuxInterface.cpp
index 3535b60c..2fd40510 100644
--- a/src/Linux/LinuxInterface.cpp
+++ b/src/Linux/LinuxInterface.cpp
@@ -50,7 +50,7 @@ void LinuxInterface::Spin()
 
 			if (packet->request >= (uint16_t)LinuxRequest::InvalidRequest)
 			{
-				INTERNAL_ERROR;
+				REPORT_INTERNAL_ERROR;
 				return;
 			}
 			const LinuxRequest request = (LinuxRequest)packet->request;
@@ -314,7 +314,7 @@ void LinuxInterface::Spin()
 
 			// Invalid request
 			default:
-				INTERNAL_ERROR;
+				REPORT_INTERNAL_ERROR;
 				break;
 			}
 		}
diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.cpp b/src/Networking/ESP8266WiFi/WiFiInterface.cpp
index a63f70d0..04ffe795 100644
--- a/src/Networking/ESP8266WiFi/WiFiInterface.cpp
+++ b/src/Networking/ESP8266WiFi/WiFiInterface.cpp
@@ -899,55 +899,38 @@ GCodeResult WiFiInterface::HandleWiFiCode(int mcode, GCodeBuffer &gb, const Stri
 			WirelessConfigurationData config;
 			memset(&config, 0, sizeof(config));
 			String<ARRAY_SIZE(config.ssid)> ssid;
-			bool ok = gb.GetQuotedString(ssid.GetRef());
-			if (ok)
-			{
-				SafeStrncpy(config.ssid, ssid.c_str(), ARRAY_SIZE(config.ssid));
-				String<ARRAY_SIZE(config.password)> password;
-				ok = gb.Seen('P') && gb.GetQuotedString(password.GetRef());
-				if (ok)
-				{
-					if (password.strlen() < 8 && password.strlen() != 0)			// WPA2 passwords must be at least 8 characters
-					{
-						reply.copy("WiFi password must be at least 8 characters");
-						return GCodeResult::error;
-					}
-					SafeStrncpy(config.password, password.c_str(), ARRAY_SIZE(config.password));
-				}
-			}
-			if (ok && gb.Seen('I'))
+			gb.GetQuotedString(ssid.GetRef());
+			SafeStrncpy(config.ssid, ssid.c_str(), ARRAY_SIZE(config.ssid));
+			String<ARRAY_SIZE(config.password)> password;
+			gb.MustSee('P');
+			gb.GetQuotedString(password.GetRef());
+			if (gb.Seen('I'))
 			{
 				IPAddress temp;
 				gb.GetIPAddress(temp);
 				config.ip = temp.GetV4LittleEndian();
 			}
-			if (ok && gb.Seen('J'))
+			if (gb.Seen('J'))
 			{
 				IPAddress temp;
-				ok = gb.GetIPAddress(temp);
+				gb.GetIPAddress(temp);
 				config.gateway = temp.GetV4LittleEndian();
 			}
-			if (ok && gb.Seen('K'))
+			if (gb.Seen('K'))
 			{
 				IPAddress temp;
-				ok = gb.GetIPAddress(temp);
+				gb.GetIPAddress(temp);
 				config.netmask = temp.GetV4LittleEndian();
 			}
-			if (ok)
+
+			const int32_t rslt = SendCommand(NetworkCommand::networkAddSsid, 0, 0, &config, sizeof(config), nullptr, 0);
+			if (rslt == ResponseEmpty)
 			{
-				const int32_t rslt = SendCommand(NetworkCommand::networkAddSsid, 0, 0, &config, sizeof(config), nullptr, 0);
-				if (rslt == ResponseEmpty)
-				{
-					return GCodeResult::ok;
-				}
-				else
-				{
-					reply.copy("Failed to add SSID to remembered list");
-				}
+				return GCodeResult::ok;
 			}
 			else
 			{
-				reply.copy("Bad or missing parameter");
+				reply.copy("Failed to add SSID to remembered list");
 			}
 		}
 		else
@@ -993,31 +976,29 @@ GCodeResult WiFiInterface::HandleWiFiCode(int mcode, GCodeBuffer &gb, const Stri
 		if (gb.Seen('S'))
 		{
 			String<SsidLength> ssidText;
-			if (gb.GetQuotedString(ssidText.GetRef()))
+			gb.GetQuotedString(ssidText.GetRef());
+			if (strcmp(ssidText.c_str(), "*") == 0)
 			{
-				if (strcmp(ssidText.c_str(), "*") == 0)
-				{
-					const int32_t rslt = SendCommand(NetworkCommand::networkFactoryReset, 0, 0, nullptr, 0, nullptr, 0);
-					if (rslt == ResponseEmpty)
-					{
-						return GCodeResult::ok;
-					}
-
-					reply.copy("Failed to reset the WiFi module to factory settings");
-					return GCodeResult::error;
-				}
-
-				uint32_t ssid32[NumDwords(SsidLength)];				// need a dword-aligned buffer for SendCommand
-				memcpy(ssid32, ssidText.c_str(), SsidLength);
-				const int32_t rslt = SendCommand(NetworkCommand::networkDeleteSsid, 0, 0, ssid32, SsidLength, nullptr, 0);
+				const int32_t rslt = SendCommand(NetworkCommand::networkFactoryReset, 0, 0, nullptr, 0, nullptr, 0);
 				if (rslt == ResponseEmpty)
 				{
 					return GCodeResult::ok;
 				}
 
-				reply.copy("Failed to remove SSID from remembered list");
+				reply.copy("Failed to reset the WiFi module to factory settings");
 				return GCodeResult::error;
 			}
+
+			uint32_t ssid32[NumDwords(SsidLength)];				// need a dword-aligned buffer for SendCommand
+			memcpy(ssid32, ssidText.c_str(), SsidLength);
+			const int32_t rslt = SendCommand(NetworkCommand::networkDeleteSsid, 0, 0, ssid32, SsidLength, nullptr, 0);
+			if (rslt == ResponseEmpty)
+			{
+				return GCodeResult::ok;
+			}
+
+			reply.copy("Failed to remove SSID from remembered list");
+			return GCodeResult::error;
 		}
 
 		reply.copy("Bad or missing parameter");
@@ -1030,56 +1011,39 @@ GCodeResult WiFiInterface::HandleWiFiCode(int mcode, GCodeBuffer &gb, const Stri
 			WirelessConfigurationData config;
 			memset(&config, 0, sizeof(config));
 			String<SsidLength> ssid;
-			bool ok = gb.GetQuotedString(ssid.GetRef());
-			if (ok)
+			gb.GetQuotedString(ssid.GetRef());
+			if (strcmp(ssid.c_str(), "*") == 0)
 			{
-				if (strcmp(ssid.c_str(), "*") == 0)
-				{
-					// Delete the access point details
-					memset(&config, 0xFF, sizeof(config));
-				}
-				else
-				{
-					SafeStrncpy(config.ssid, ssid.c_str(), ARRAY_SIZE(config.ssid));
-					String<ARRAY_SIZE(config.password)> password;
-					ok = gb.Seen('P') && gb.GetQuotedString(password.GetRef());
-					if (ok)
-					{
-						SafeStrncpy(config.password, password.c_str(), ARRAY_SIZE(config.password));
-						if (password.strlen() < 8 && password.strlen() != 0)			// WPA2 passwords must be at least 8 characters
-						{
-							reply.copy("WiFi password must be at least 8 characters");
-							return GCodeResult::error;
-						}
-						SafeStrncpy(config.password, password.c_str(), ARRAY_SIZE(config.password));
-						if (gb.Seen('I'))
-						{
-							IPAddress temp;
-							ok = gb.GetIPAddress(temp);
-							config.ip = temp.GetV4LittleEndian();
-							config.channel = (gb.Seen('C')) ? gb.GetIValue() : 0;
-						}
-						else
-						{
-							ok = false;
-						}
-					}
-				}
+				// Delete the access point details
+				memset(&config, 0xFF, sizeof(config));
 			}
-			if (ok)
+			else
 			{
-				const int32_t rslt = SendCommand(NetworkCommand::networkConfigureAccessPoint, 0, 0, &config, sizeof(config), nullptr, 0);
-				if (rslt == ResponseEmpty)
+				SafeStrncpy(config.ssid, ssid.c_str(), ARRAY_SIZE(config.ssid));
+				String<ARRAY_SIZE(config.password)> password;
+				gb.MustSee('P');
+				gb.GetQuotedString(password.GetRef());
+				SafeStrncpy(config.password, password.c_str(), ARRAY_SIZE(config.password));
+				if (password.strlen() < 8 && password.strlen() != 0)			// WPA2 passwords must be at least 8 characters
 				{
-					return GCodeResult::ok;
+					reply.copy("WiFi password must be at least 8 characters");
+					return GCodeResult::error;
 				}
-
-				reply.copy("Failed to configure access point parameters");
+				SafeStrncpy(config.password, password.c_str(), ARRAY_SIZE(config.password));
+				gb.MustSee('I');
+				IPAddress temp;
+				gb.GetIPAddress(temp);
+				config.ip = temp.GetV4LittleEndian();
+				config.channel = (gb.Seen('C')) ? gb.GetIValue() : 0;
 			}
-			else
+
+			const int32_t rslt = SendCommand(NetworkCommand::networkConfigureAccessPoint, 0, 0, &config, sizeof(config), nullptr, 0);
+			if (rslt == ResponseEmpty)
 			{
-				reply.copy("Bad or missing parameter");
+				return GCodeResult::ok;
 			}
+
+			reply.copy("Failed to configure access point parameters");
 		}
 		else
 		{
diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.h b/src/Networking/ESP8266WiFi/WiFiInterface.h
index 4e090f8b..13f154b7 100644
--- a/src/Networking/ESP8266WiFi/WiFiInterface.h
+++ b/src/Networking/ESP8266WiFi/WiFiInterface.h
@@ -67,7 +67,7 @@ public:
 	void TerminateDataPort() noexcept override;
 
 	// The remaining functions are specific to the WiFi version
-	GCodeResult HandleWiFiCode(int mcode, GCodeBuffer &gb, const StringRef& reply, OutputBuffer*& longReply);
+	GCodeResult HandleWiFiCode(int mcode, GCodeBuffer &gb, const StringRef& reply, OutputBuffer*& longReply) THROWS_PARSE_ERROR;
 	WifiFirmwareUploader *GetWifiUploader() const noexcept { return uploader; }
 	void StartWiFi() noexcept;
 	void ResetWiFi() noexcept;
diff --git a/src/ObjectModel/ObjectModel.cpp b/src/ObjectModel/ObjectModel.cpp
index c1d487ec..39620eff 100644
--- a/src/ObjectModel/ObjectModel.cpp
+++ b/src/ObjectModel/ObjectModel.cpp
@@ -10,6 +10,7 @@
 #if SUPPORT_OBJECT_MODEL
 
 #include "OutputMemory.h"
+#include <GCodes/GCodeBuffer/StringParser.h>
 #include <cstring>
 #include <General/SafeStrtod.h>
 
@@ -256,33 +257,35 @@ int ObjectModelTableEntry::IdCompare(const char *id) const
 }
 
 // Get the value of an object when we don't know what its type is
-TypeCode ObjectModel::GetObjectValue(ExpressionValue& val, const char *idString)
+ExpressionValue ObjectModel::GetObjectValue(const StringParser& sp, const char *idString)
 {
+	ExpressionValue val;
+
 	const ObjectModelTableEntry *e = FindObjectModelTableEntry(idString);
 	if (e == nullptr)
 	{
-		return NoType;
+		throw sp.ConstructParseException("unknown variable %s", idString);
 	}
 
 	idString = GetNextElement(idString);
 	void * param = e->param(this);
-	TypeCode tc = e->type;
-	if ((tc & IsArray) != 0)
+	val.type = e->type;
+	if ((val.type & IsArray) != 0)
 	{
 		if (*idString != '[')
 		{
-			return NoType;						// no array index is provided, and we don't currently allow an entire array to be returned
+			throw sp.ConstructParseException("can't use whole array");
 		}
 		const char *endptr;
-		const unsigned long val = SafeStrtoul(idString + 1, &endptr);
+		const unsigned long index = SafeStrtoul(idString + 1, &endptr);
 		if (endptr == idString + 1 || *endptr != ']')
 		{
-			return NoType;						// invalid syntax
+			throw sp.ConstructParseException("expected ']'");
 		}
 		const ObjectModelArrayDescriptor *arr = (const ObjectModelArrayDescriptor*)param;
-		if (val >= arr->GetNumElements(this))
+		if (index >= arr->GetNumElements(this))
 		{
-			return NoType;						// array index out of range
+			throw sp.ConstructParseException("array index out of bounds");
 		}
 
 		idString = endptr + 1;					// skip past the ']'
@@ -290,14 +293,14 @@ TypeCode ObjectModel::GetObjectValue(ExpressionValue& val, const char *idString)
 		{
 			++idString;							// skip any '.' after it because it could be an array of objects
 		}
-		tc &= ~IsArray;							// clear the array flag
-		param = arr->GetElement(this, val);		// fetch the pointer to the array element
+		val.type &= ~IsArray;					// clear the array flag
+		param = arr->GetElement(this, index);	// fetch the pointer to the array element
 	}
 
-	switch (tc)
+	switch (val.type)
 	{
 	case TYPE_OF(ObjectModel):
-		return ((ObjectModel*)param)->GetObjectValue(val, idString);
+		return ((ObjectModel*)param)->GetObjectValue(sp, idString);
 
 	case TYPE_OF(float):
 	case TYPE_OF(Float2):
@@ -328,9 +331,9 @@ TypeCode ObjectModel::GetObjectValue(ExpressionValue& val, const char *idString)
 		break;
 
 	default:
-		return NoType;
+		throw sp.ConstructParseException("unknown type");
 	}
-	return tc;
+	return val;
 }
 
 // Template specialisations
diff --git a/src/ObjectModel/ObjectModel.h b/src/ObjectModel/ObjectModel.h
index e1226dd7..5c5e7ea7 100644
--- a/src/ObjectModel/ObjectModel.h
+++ b/src/ObjectModel/ObjectModel.h
@@ -23,15 +23,20 @@ constexpr TypeCode NoType = 0;							// code for an invalid or unknown type
 // Forward declarations
 class ObjectModelTableEntry;
 class ObjectModel;
+class StringParser;
 
-union ExpressionValue
+struct ExpressionValue
 {
-	bool bVal;
-	float fVal;
-	int32_t iVal;
-	uint32_t uVal;
-	const char *sVal;
-	const ObjectModel *omVal;
+	TypeCode type;
+	union
+	{
+		bool bVal;
+		float fVal;
+		int32_t iVal;
+		uint32_t uVal;
+		const char *sVal;
+		const ObjectModel *omVal;
+	};
 };
 
 // Dummy types, used to define type codes
@@ -58,7 +63,7 @@ public:
 	TypeCode GetObjectType(const char *idString);
 
 	// Get the value of an object when we don't know what its type is
-	TypeCode GetObjectValue(ExpressionValue& val, const char *idString);
+	ExpressionValue GetObjectValue(const StringParser& sp, const char *idString);
 
 	// Specialisation of above for float, allowing conversion from integer to float
 	bool GetObjectValue(float& val, const char *idString);
diff --git a/src/Pccb/Pins_Pccb.h b/src/Pccb/Pins_Pccb.h
index e9d3719b..20607b62 100644
--- a/src/Pccb/Pins_Pccb.h
+++ b/src/Pccb/Pins_Pccb.h
@@ -55,7 +55,6 @@ constexpr uint32_t IAP_IMAGE_END = 0x0047FFFF;		// we allow a full 64K on the SA
 #define HAS_VOLTAGE_MONITOR		1
 #define ENFORCE_MAX_VIN			1
 #define HAS_VREF_MONITOR		1
-#define ACTIVE_LOW_HEAT_ON		0					// although we have no heaters, this matters because we treat the LEDs as heaters
 
 #define SUPPORT_INKJET			0					// set nonzero to support inkjet control
 #define SUPPORT_ROLAND			0					// set nonzero to support Roland mill
@@ -63,6 +62,7 @@ constexpr uint32_t IAP_IMAGE_END = 0x0047FFFF;		// we allow a full 64K on the SA
 #define SUPPORT_IOBITS			0					// set to support P parameter in G0/G1 commands
 #define SUPPORT_DHT_SENSOR		0					// set nonzero to support DHT temperature/humidity sensors (requires RTOS)
 #define SUPPORT_WORKPLACE_COORDINATES	1			// set nonzero to support G10 L2 and G53..59
+#define SUPPORT_OBJECT_MODEL	1
 #define SUPPORT_12864_LCD		0					// set nonzero to support 12864 LCD and rotary encoder
 #define SUPPORT_DOTSTAR_LED		1					// set nonzero to support DotStar LED strips
 #define ALLOCATE_DEFAULT_PORTS	1
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 8b1dba6a..0edf770e 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -3254,11 +3254,7 @@ GCodeResult Platform::ConfigureLogging(GCodeBuffer& gb, const StringRef& reply)
 			StringRef filename(buf, ARRAY_SIZE(buf));
 			if (gb.Seen('P'))
 			{
-				if (!gb.GetQuotedString(filename))
-				{
-					reply.copy("Missing filename in M929 command");
-					return GCodeResult::error;
-				}
+				gb.GetQuotedString(filename);
 			}
 			else
 			{
@@ -4158,11 +4154,7 @@ GCodeResult Platform::ConfigureGpioOrServo(uint32_t gpioNumber, bool isServo, GC
 		if (gb.Seen('C'))
 		{
 			String<StringLength50> pinName;
-			if (!gb.GetReducedString(pinName.GetRef()))
-			{
-				reply.copy("Missing pin name");
-				return GCodeResult::error;
-			}
+			gb.GetReducedString(pinName.GetRef());
 
 			// Remove any existing assignment
 #if SUPPORT_CAN_EXPANSION
diff --git a/src/RADDS/Pins_RADDS.h b/src/RADDS/Pins_RADDS.h
index 5ffc7dae..64a32bcc 100644
--- a/src/RADDS/Pins_RADDS.h
+++ b/src/RADDS/Pins_RADDS.h
@@ -10,31 +10,42 @@
 #define HAS_HIGH_SPEED_SD		0
 #define HAS_VOLTAGE_MONITOR		0
 #define HAS_VREF_MONITOR		0
-#define ACTIVE_LOW_HEAT_ON		0
 
 const size_t NumFirmwareUpdateModules = 1;
-#define IAP_UPDATE_FILE "iapradds.bin"
 #define IAP_FIRMWARE_FILE "RepRapFirmware-RADDS.bin"
 
+#define IAP_IN_RAM				0
+
+#if IAP_IN_RAM
+
+# define IAP_UPDATE_FILE "RaddsIAP.bin"
+constexpr uint32_t IAP_IMAGE_START = 0x20008000u;
+
+#else
+
+# define IAP_UPDATE_FILE "iapradds.bin"
+constexpr uint32_t IAP_IMAGE_START = 0x000F0000;
+constexpr uint32_t IAP_IMAGE_END = 0x000FFBFF;		// don't touch the last 1KB, it's used for NvData
+
+#endif
+
 // Default board type
 #define DEFAULT_BOARD_TYPE BoardType::RADDS_15
 #define ELECTRONICS "RADDS"
 
-#define SUPPORT_INKJET		0					// set nonzero to support inkjet control
-#define SUPPORT_ROLAND		0					// set nonzero to support Roland mill
-#define SUPPORT_SCANNER		0					// set nonzero to support FreeLSS scanners
-#define SUPPORT_IOBITS		0					// set to support P parameter in G0/G1 commands
-#define SUPPORT_DHT_SENSOR	0					// set nonzero to support DHT temperature/humidity sensors
-
-#define NO_EXTRUDER_ENDSTOPS	1	// Temporary!!!
+#define SUPPORT_INKJET			0				// set nonzero to support inkjet control
+#define SUPPORT_ROLAND			0				// set nonzero to support Roland mill
+#define SUPPORT_SCANNER			0				// set nonzero to support FreeLSS scanners
+#define SUPPORT_IOBITS			0				// set to support P parameter in G0/G1 commands
+#define SUPPORT_DHT_SENSOR		0				// set nonzero to support DHT temperature/humidity sensors
+#define SUPPORT_OBJECT_MODEL	1
 
 // The physical capabilities of the machine
 
 // The number of drives in the machine, including X, Y, and Z plus extruder drives
 constexpr size_t NumDirectDrivers = 9;
 
-constexpr size_t MaxSensorsInSystem = 32;
-typedef uint32_t SensorsBitmap;
+constexpr size_t MaxSensors = 32;
 
 constexpr size_t MaxHeaters = 3;
 constexpr size_t MaxExtraHeaterProtections = 4;		// The number of extra heater protection instances
@@ -238,10 +249,6 @@ constexpr PwmFrequency DefaultFanPwmFrequencies[] = { DefaultFanPwmFreq };
 // Function to look up a pin name pass back the corresponding index into the pin table
 bool LookupPinName(const char *pn, LogicalPin& lpin, bool& hardwareInverted);
 
-// SAM3X Flash locations (may be expanded in the future)
-constexpr uint32_t IAP_FLASH_START = 0x000F0000;
-constexpr uint32_t IAP_FLASH_END = 0x000FFBFF;		// don't touch the last 1KB, it's used for NvData
-
 // Timer allocation
 #define NETWORK_TC			(TC1)
 #define NETWORK_TC_CHAN		(1)
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index 53e2c73c..399b0403 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -2481,7 +2481,7 @@ void RepRap::UpdateFirmware() noexcept
 
 # else	// SAM3X code
 
-	for (uint32_t flashAddr = IAP_FLASH_START; flashAddr < IAP_FLASH_END; flashAddr += IFLASH_PAGE_SIZE)
+	for (uint32_t flashAddr = IAP_IMAGE_START; flashAddr < IAP_IMAGE_END; flashAddr += IFLASH_PAGE_SIZE)
 	{
 		const int bytesRead = iapFile->Read(data, IFLASH_PAGE_SIZE);
 
@@ -2513,13 +2513,13 @@ void RepRap::UpdateFirmware() noexcept
 
 			if (rc != FLASH_RC_OK)
 			{
-				MessageF(FirmwareUpdateErrorMessage, "flash %s failed, code=%" PRIu32 ", address=0x%08" PRIx32 "\n", op, rc, flashAddr);
+				platform->MessageF(FirmwareUpdateErrorMessage, "flash %s failed, code=%" PRIu32 ", address=0x%08" PRIx32 "\n", op, rc, flashAddr);
 				return;
 			}
 			// Verify written data
 			if (memcmp(reinterpret_cast<void *>(flashAddr), data, bytesRead) != 0)
 			{
-				MessageF(FirmwareUpdateErrorMessage, "verify during flash write failed, address=0x%08" PRIx32 "\n", flashAddr);
+				platform->MessageF(FirmwareUpdateErrorMessage, "verify during flash write failed, address=0x%08" PRIx32 "\n", flashAddr);
 				return;
 			}
 		}
diff --git a/src/RepRap.h b/src/RepRap.h
index 651f1dd3..1f5b75b6 100644
--- a/src/RepRap.h
+++ b/src/RepRap.h
@@ -243,9 +243,7 @@ inline uint16_t RepRap::GetExtrudersInUse() const noexcept { return activeExtrud
 inline uint16_t RepRap::GetToolHeatersInUse() const noexcept { return activeToolHeaters; }
 inline bool RepRap::IsStopped() const noexcept { return stopped; }
 
-#define STRINGIZE(s)	#s
-#define INTERNAL_ERROR do { reprap.ReportInternalError((__FILE__), (__func__), (__LINE__)); } while(0)
-#define INTERNAL_ERROR_MESSAGE "Internal error at " __FILE__ "(" STRINGIZE(__LINE__) ")"
+#define REPORT_INTERNAL_ERROR do { reprap.ReportInternalError((__FILE__), (__func__), (__LINE__)); } while(0)
 
 #endif
 
diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h
index e2d020ac..3da8bcd3 100644
--- a/src/RepRapFirmware.h
+++ b/src/RepRapFirmware.h
@@ -89,7 +89,7 @@ enum class PinUsedBy : uint8_t
 static_assert(NumNamedPins <= 255 || sizeof(LogicalPin) > 1, "Need 16-bit logical pin numbers");
 
 #if SUPPORT_CAN_EXPANSION
-# include "CanId.h"		// for type CanAddress
+# include "CanId.h"				// for type CanAddress
 #endif
 
 #include "General/StringRef.h"
@@ -98,6 +98,9 @@ static_assert(NumNamedPins <= 255 || sizeof(LogicalPin) > 1, "Need 16-bit logica
 #include "General/SafeStrtod.h"
 #include "General/SafeVsnprintf.h"
 
+#define THROWS_PARSE_ERROR		// we tag this on to function declarations to indicate that they may throw parse errors, which must be caught
+#define THROW_INTERNAL_ERROR	throw ConstructParseException("internal error at file " __FILE__ "(%d)", __LINE__)
+
 // Type of a driver identifier
 struct DriverId
 {
diff --git a/src/Storage/FileStore.cpp b/src/Storage/FileStore.cpp
index adf704d8..d92e5c41 100644
--- a/src/Storage/FileStore.cpp
+++ b/src/Storage/FileStore.cpp
@@ -140,7 +140,7 @@ void FileStore::Duplicate()
 	switch (usageMode)
 	{
 	case FileUseMode::free:
-		INTERNAL_ERROR;
+		REPORT_INTERNAL_ERROR;
 		break;
 
 	case FileUseMode::readOnly:
@@ -166,7 +166,7 @@ bool FileStore::Close()
 	case FileUseMode::free:
 		if (!inInterrupt())
 		{
-			INTERNAL_ERROR;
+			REPORT_INTERNAL_ERROR;
 		}
 		return false;
 
@@ -237,7 +237,7 @@ bool FileStore::Seek(FilePosition pos)
 	switch (usageMode)
 	{
 	case FileUseMode::free:
-		INTERNAL_ERROR;
+		REPORT_INTERNAL_ERROR;
 		return false;
 
 	case FileUseMode::readOnly:
@@ -272,7 +272,7 @@ FilePosition FileStore::Length() const
 	switch (usageMode)
 	{
 	case FileUseMode::free:
-		INTERNAL_ERROR;
+		REPORT_INTERNAL_ERROR;
 		return 0;
 
 	case FileUseMode::readOnly:
@@ -299,7 +299,7 @@ int FileStore::Read(char* extBuf, size_t nBytes)
 	switch (usageMode)
 	{
 	case FileUseMode::free:
-		INTERNAL_ERROR;
+		REPORT_INTERNAL_ERROR;
 		return -1;
 
 	case FileUseMode::readOnly:
@@ -387,7 +387,7 @@ bool FileStore::Write(const char *s, size_t len)
 	switch (usageMode)
 	{
 	case FileUseMode::free:
-		INTERNAL_ERROR;
+		REPORT_INTERNAL_ERROR;
 		return false;
 
 	case FileUseMode::readOnly:
@@ -441,7 +441,7 @@ bool FileStore::Flush()
 	switch (usageMode)
 	{
 	case FileUseMode::free:
-		INTERNAL_ERROR;
+		REPORT_INTERNAL_ERROR;
 		return false;
 
 	case FileUseMode::readOnly:
@@ -479,7 +479,7 @@ bool FileStore::Truncate()
 	{
 	case FileUseMode::free:
 	case FileUseMode::readOnly:
-		INTERNAL_ERROR;
+		REPORT_INTERNAL_ERROR;
 		return false;
 
 	case FileUseMode::readWrite: