From b2758208c7e63567baa0165a3d552b706c85cf85 Mon Sep 17 00:00:00 2001
From: Andrew <18502096+classicrocker883@users.noreply.github.com>
Date: Thu, 9 Nov 2023 17:34:48 -0500
Subject: [PATCH] =?UTF-8?q?=E2=9C=A8=20G27=20P3=20/=20P4=20(#26401)?=
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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
---
 Marlin/src/gcode/feature/pause/G27.cpp |  9 +++++-
 Marlin/src/libs/nozzle.cpp             | 41 ++++++++++++++++----------
 2 files changed, 34 insertions(+), 16 deletions(-)

diff --git a/Marlin/src/gcode/feature/pause/G27.cpp b/Marlin/src/gcode/feature/pause/G27.cpp
index f61453e6fb..229b22a96c 100644
--- a/Marlin/src/gcode/feature/pause/G27.cpp
+++ b/Marlin/src/gcode/feature/pause/G27.cpp
@@ -29,7 +29,14 @@
 #include "../../../module/motion.h"
 
 /**
- * G27: Park the nozzle
+ * G27: Park the nozzle according with the given style
+ *
+ *  P<style> - Parking style:
+ *             0 = (Default) Relative raise by NOZZLE_PARK_Z_RAISE_MIN (>= NOZZLE_PARK_POINT.z) before XY parking.
+ *             1 = Absolute move to NOZZLE_PARK_POINT.z before XY parking. (USE WITH CAUTION!)
+ *             2 = Relative raise by NOZZLE_PARK_POINT.z before XY parking.
+ *             3 = Relative raise by NOZZLE_PARK_Z_RAISE_MIN, skip XY parking.
+ *             4 = No Z raise. Just XY parking.
  */
 void GcodeSuite::G27() {
   // Don't allow nozzle parking without homing first
diff --git a/Marlin/src/libs/nozzle.cpp b/Marlin/src/libs/nozzle.cpp
index 10ebd71efd..3b982718a2 100644
--- a/Marlin/src/libs/nozzle.cpp
+++ b/Marlin/src/libs/nozzle.cpp
@@ -266,34 +266,45 @@ Nozzle nozzle;
       constexpr feedRate_t fr_z = NOZZLE_PARK_Z_FEEDRATE;
 
       switch (z_action) {
-        case 1: // Go to Z-park height
+        case 1:   // Go to Z-park height
           do_blocking_move_to_z(park.z, fr_z);
           break;
 
-        case 2: // Raise by Z-park height
+        case 2:   // Raise by Z-park height
           do_blocking_move_to_z(_MIN(current_position.z + park.z, Z_MAX_POS), fr_z);
           break;
 
-        default: // Raise by NOZZLE_PARK_Z_RAISE_MIN, use park.z as a minimum height
+        case 3: { // Raise by NOZZLE_PARK_Z_RAISE_MIN, bypass XY-park position
+          do_blocking_move_to_z(park_mode_0_height(0), fr_z);
+          goto SKIP_XY_MOVE;
+        } break;
+
+        case 4:   // Skip Z raise, go to XY position
+          break;
+
+        default:  // Raise by NOZZLE_PARK_Z_RAISE_MIN, use park.z as a minimum height
           do_blocking_move_to_z(park_mode_0_height(park.z), fr_z);
           break;
       }
     #endif // HAS_Z_AXIS
 
-    #ifndef NOZZLE_PARK_MOVE
-      #define NOZZLE_PARK_MOVE 0
-    #endif
-    constexpr feedRate_t fr_xy = NOZZLE_PARK_XY_FEEDRATE;
-    switch (NOZZLE_PARK_MOVE) {
-      case 0: do_blocking_move_to_xy(park, fr_xy); break;
-      case 1: do_blocking_move_to_x(park.x, fr_xy); break;
-      case 2: do_blocking_move_to_y(park.y, fr_xy); break;
-      case 3: do_blocking_move_to_x(park.x, fr_xy);
-              do_blocking_move_to_y(park.y, fr_xy); break;
-      case 4: do_blocking_move_to_y(park.y, fr_xy);
-              do_blocking_move_to_x(park.x, fr_xy); break;
+    {
+      #ifndef NOZZLE_PARK_MOVE
+        #define NOZZLE_PARK_MOVE 0
+      #endif
+      constexpr feedRate_t fr_xy = NOZZLE_PARK_XY_FEEDRATE;
+      switch (NOZZLE_PARK_MOVE) {
+        case 0: do_blocking_move_to_xy(park, fr_xy); break;
+        case 1: do_blocking_move_to_x(park.x, fr_xy); break;
+        case 2: do_blocking_move_to_y(park.y, fr_xy); break;
+        case 3: do_blocking_move_to_x(park.x, fr_xy);
+                do_blocking_move_to_y(park.y, fr_xy); break;
+        case 4: do_blocking_move_to_y(park.y, fr_xy);
+                do_blocking_move_to_x(park.x, fr_xy); break;
+      }
     }
 
+    SKIP_XY_MOVE:
     report_current_position();
   }