diff --git a/docs/G-Codes.md b/docs/G-Codes.md
index 31ada1c3..b9b8c4c7 100644
--- a/docs/G-Codes.md
+++ b/docs/G-Codes.md
@@ -43,15 +43,16 @@ possible G-Code command. Instead, Klipper prefers human readable
 ["extended G-Code commands"](#extended-g-code-commands).
 
 If one requires a less common G-Code command then it may be possible
-to implement it with a custom Klipper gcode_macro (see
-[config reference](Config_Reference.md#gcode_macro) for details). For
+to implement it with a custom
+[gcode_macro config section](Config_Reference.md#gcode_macro). For
 example, one might use this to implement: `G12`, `G29`, `G30`, `G31`,
 `M42`, `M80`, `M81`, `T1`, etc.
 
 ## G-Code SD card commands
 
 Klipper also supports the following standard G-Code commands if the
-"virtual_sdcard" config section is enabled:
+[virtual_sdcard config section](Config_Reference.md#virtual_sdcard) is
+enabled:
 - List SD card: `M20`
 - Initialize SD card: `M21`
 - Select SD file: `M23 <filename>`
@@ -63,26 +64,28 @@ Klipper also supports the following standard G-Code commands if the
 In addition, the following extended commands are availble when the
 "virtual_sdcard" config section is enabled.
 - Load a file and start SD print: `SDCARD_PRINT_FILE FILENAME=<filename>`
-- Unload file and clear SD state:  `SDCARD_RESET_FILE`
+- Unload file and clear SD state: `SDCARD_RESET_FILE`
 
 ## G-Code arcs
 
-The following standard G-Code commands are available if a "gcode_arcs"
-config section is enabled:
+The following standard G-Code commands are available if a
+[gcode_arcs config section](Config_Reference.md#gcode_arcs) is
+enabled:
 - Controlled Arc Move (G2 or G3): `G2 [X<pos>] [Y<pos>] [Z<pos>]
   [E<pos>] [F<speed>] I<value> J<value>`
 
 ## G-Code firmware retraction
 
 The following standard G-Code commands are available if a
-"firmware_retraction" config section is enabled:
+[firmware_retraction config section](Config_Reference.md#firmware_retraction)
+is enabled:
 - Retract: `G10`
 - Unretract: `G11`
 
 ## G-Code display commands
 
-The following standard G-Code commands are available if a "display"
-config section is enabled:
+The following standard G-Code commands are available if a
+[display config section](Config_Reference.md#display) is enabled:
 - Display Message: `M117 <message>`
 - Set build percentage: `M73 P<percent>`
 
@@ -231,8 +234,10 @@ The following standard commands are supported:
 
 ## G-Code Macro Commands
 
-The following command is available when a "gcode_macro" config section
-is enabled:
+The following command is available when a
+[gcode_macro config section](Config_Reference.md#gcode_macro) is
+enabled (also see the
+[command templates guide](Command_Templates.md)):
 - `SET_GCODE_VARIABLE MACRO=<macro_name> VARIABLE=<name>
   VALUE=<value>`: This command allows one to change the value of a
   gcode_macro variable at run-time. The provided VALUE is parsed as a
@@ -240,24 +245,27 @@ is enabled:
 
 ## Custom Pin Commands
 
-The following command is available when an "output_pin" config section
-is enabled:
+The following command is available when an
+[output_pin config section](Config_Reference.md#output_pin) is
+enabled:
 - `SET_PIN PIN=config_name VALUE=<value> CYCLE_TIME=<cycle_time>`
 
-Note: Hardware PWM does not currently support the CYCLE_TIME parameter and will
-use the cycle time defined in the config.
+Note: Hardware PWM does not currently support the CYCLE_TIME parameter
+and will use the cycle time defined in the config.
 
 ## Manually Controlled Fans Commands
 
-The following command is available when a "fan_generic" config section
-is enabled:
+The following command is available when a
+[fan_generic config section](Config_Reference.md#fan_generic) is
+enabled:
 - `SET_FAN_SPEED FAN=config_name SPEED=<speed>` This command sets
   the speed of a fan. <speed> must be between 0.0 and 1.0.
 
 ## Neopixel and Dotstar Commands
 
-The following command is available when "neopixel" or "dotstar" config
-sections are enabled:
+The following command is available when a
+[neopixel config section](Config_Reference.md#neopixel) or
+[dotstar config section](Config_Reference.md#dotstar) is enabled:
 - `SET_LED LED=<config_name> RED=<value> GREEN=<value> BLUE=<value>
   WHITE=<value> [INDEX=<index>] [TRANSMIT=0]`: This sets the LED
   output. Each color <value> must be between 0.0 and 1.0. The WHITE
@@ -272,16 +280,17 @@ sections are enabled:
 
 ## Servo Commands
 
-The following commands are available when a "servo" config section is
-enabled:
+The following commands are available when a
+[servo config section](Config_Reference.md#servo) is enabled:
 - `SET_SERVO SERVO=config_name [ANGLE=<degrees> | WIDTH=<seconds>]`:
   Set the servo position to the given angle (in degrees) or pulse
   width (in seconds). Use `WIDTH=0` to disable the servo output.
 
 ## Manual stepper Commands
 
-The following command is available when a "manual_stepper" config
-section is enabled:
+The following command is available when a
+[manual_stepper config section](Config_Reference.md#manual_stepper) is
+enabled:
 - `MANUAL_STEPPER STEPPER=config_name [ENABLE=[0|1]]
   [SET_POSITION=<pos>] [SPEED=<speed>] [ACCEL=<accel>]
   [MOVE=<pos> [STOP_ON_ENDSTOP=[1|2|-1|-2]] [SYNC=0]]`: This command
@@ -303,8 +312,9 @@ section is enabled:
 
 ## Extruder stepper Commands
 
-The following command is available when an "extruder_stepper" config
-section is enabled:
+The following command is available when an
+[extruder_stepper config section](Config_Reference.md#extruder_stepper)
+is enabled:
 - `SYNC_STEPPER_TO_EXTRUDER STEPPER=<extruder_stepper config_name>
   [EXTRUDER=<extruder config_name>]`: This command will cause the given
   STEPPER to become synchronized to the given EXTRUDER, overriding
@@ -312,15 +322,16 @@ section is enabled:
 
 ## Probe
 
-The following commands are available when a "probe" config section is
-enabled:
+The following commands are available when a
+[probe config section](Config_Reference.md#probe) is enabled (also see
+the [probe calibrate guide](Probe_Calibrate.md)):
 - `PROBE [PROBE_SPEED=<mm/s>] [LIFT_SPEED=<mm/s>] [SAMPLES=<count>]
   [SAMPLE_RETRACT_DIST=<mm>] [SAMPLES_TOLERANCE=<mm>]
   [SAMPLES_TOLERANCE_RETRIES=<count>]
   [SAMPLES_RESULT=median|average]`: Move the nozzle downwards until
   the probe triggers. If any of the optional parameters are provided
-  they override their equivalent setting in the probe config section
-  (see [config reference](Config_Reference.md#probe) for details).
+  they override their equivalent setting in the
+  [probe config section](Config_Reference.md#probe).
 - `QUERY_PROBE`: Report the current status of the probe ("triggered"
   or "open").
 - `PROBE_ACCURACY [PROBE_SPEED=<mm/s>] [SAMPLES=<count>]
@@ -339,8 +350,9 @@ enabled:
 
 ## BLTouch
 
-The following command is available when a "bltouch" config section is
-enabled:
+The following command is available when a
+[bltouch config section](Config_Reference.md#bltouch) is enabled (also
+see the [BL-Touch guide](BLTouch.md)):
 - `BLTOUCH_DEBUG COMMAND=<command>`: This sends a command to the
   BLTouch. It may be useful for debugging. Available commands are:
   `pin_down`, `touch_mode`, `pin_up`, `self_test`, `reset`,
@@ -352,12 +364,11 @@ enabled:
 - `BLTOUCH_STORE MODE=<output_mode>`: This stores an output mode in the
   EEPROM of a BLTouch V3.1 Available output_modes are: `5V`, `OD`
 
-See [Working with the BL-Touch](BLTouch.md) for more details.
-
 ## Delta Calibration
 
-The following commands are available when the "delta_calibrate" config
-section is enabled:
+The following commands are available when the
+[delta_calibrate config section](Config_Reference.md#linear-delta-kinematics)
+is enabled (also see the [delta calibrate guide](Delta_Calibrate.md)):
 - `DELTA_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`: This
   command will probe seven points on the bed and recommend updated
   endstop positions, tower angles, and radius. See the PROBE command
@@ -370,8 +381,8 @@ section is enabled:
 
 ## Bed Tilt
 
-The following commands are available when the "bed_tilt" config
-section is enabled:
+The following commands are available when the
+[bed_tilt config section](Config_Reference.md#bed_tilt) is enabled:
 - `BED_TILT_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]`:
   This command will probe the points specified in the config and then
   recommend updated x and y tilt adjustments. See the PROBE command
@@ -382,8 +393,9 @@ section is enabled:
 
 ## Mesh Bed Leveling
 
-The following commands are available when the "bed_mesh" config
-section is enabled:
+The following commands are available when the
+[bed_mesh config section](Config_Reference.md#bed_mesh) is enabled
+(also see the [bed mesh guide](Bed_Mesh.md)):
 - `BED_MESH_CALIBRATE [METHOD=manual] [<probe_parameter>=<value>]
   [<mesh_parameter>=<value>]`:
   This command probes the bed using generated points specified by the
@@ -415,18 +427,22 @@ section is enabled:
 
 ## Bed Screws Helper
 
-The following commands are available when the "bed_screws" config
-section is enabled:
+The following commands are available when the
+[bed_screws config section](Config_Reference.md#bed_screws) is enabled
+(also see the
+[manual level guide](Manual_Level.md#adjusting-bed-leveling-screws)):
 - `BED_SCREWS_ADJUST`: This command will invoke the bed screws
   adjustment tool. It will command the nozzle to different locations
   (as defined in the config file) and allow one to make adjustments to
   the bed screws so that the bed is a constant distance from the
   nozzle.
 
-## Bed Screws Tilt adjust Helper
+## Bed Screws Tilt Adjust Helper
 
-The following commands are available when the "screws_tilt_adjust"
-config section is enabled:
+The following commands are available when the
+[screws_tilt_adjust config section](Config_Reference.md#screws_tilt_adjust)
+is enabled (also see the
+[manual level guide](Manual_Level.md#adjusting-bed-leveling-screws-using-the-bed-probe)):
 - `SCREWS_TILT_CALCULATE [<probe_parameter>=<value>]`: This command
   will invoke the bed screws adjustment tool. It will command the
   nozzle to different locations (as defined in the config file)
@@ -437,8 +453,8 @@ config section is enabled:
 
 ## Z Tilt
 
-The following commands are available when the "z_tilt" config section
-is enabled:
+The following commands are available when the
+[z_tilt config section](Config_Reference.md#z_tilt) is enabled:
 - `Z_TILT_ADJUST [<probe_parameter>=<value>]`: This command will probe
   the points specified in the config and then make independent
   adjustments to each Z stepper to compensate for tilt. See the PROBE
@@ -446,15 +462,18 @@ is enabled:
 
 ## Dual Carriages
 
-The following command is available when the "dual_carriage" config
-section is enabled:
+The following command is available when the
+[dual_carriage config section](Config_Reference.md#dual_carriage) is
+enabled:
 - `SET_DUAL_CARRIAGE CARRIAGE=[0|1]`: This command will set the active
   carriage. It is typically invoked from the activate_gcode and
   deactivate_gcode fields in a multiple extruder configuration.
 
 ## TMC2130, TMC2660, TMC2208, TMC2209 and TMC5160
 
-The following commands are available when any of the "tmcXXXX" config sections is enabled:
+The following commands are available when any of the
+[tmcXXXX config sections](Config_Reference.md#tmc-stepper-driver-configuration)
+are enabled:
 - `DUMP_TMC STEPPER=<name>`: This command will read the TMC driver
   registers and report their values.
 - `INIT_TMC STEPPER=<name>`: This command will intitialize the TMC
@@ -473,8 +492,9 @@ The following commands are available when any of the "tmcXXXX" config sections i
 
 ## Endstop adjustments by stepper phase
 
-The following commands are available when an "endstop_phase" config
-section is enabled:
+The following commands are available when an
+[endstop_phase config section](Config_Reference.md#endstop_phase) is
+enabled (also see the [endstop phase guide](Endstop_Phase.md)):
 - `ENDSTOP_PHASE_CALIBRATE [STEPPER=<config_name>]`: If no STEPPER
   parameter is provided then this command will reports statistics on
   endstop stepper phases during past homing operations. When a STEPPER
@@ -484,8 +504,9 @@ section is enabled:
 
 ## Force movement
 
-The following commands are available when the "force_move" config
-section is enabled:
+The following commands are available when the
+[force_move config section](Config_Reference.md#force_move) is
+enabled:
 - `FORCE_MOVE STEPPER=<config_name> DISTANCE=<value> VELOCITY=<value>
   [ACCEL=<value>]`: This command will forcibly move the given stepper
   the given distance (in mm) at the given constant velocity (in
@@ -512,130 +533,144 @@ section is enabled:
 
 ## Send message (respond) to host
 
-The following commands are availabe when the "respond" config section is
-enabled.
-  - `M118 <message>`: echo the message prepended with the configured default
-    prefix (or `echo: ` if no prefix is configured).
-  - `RESPOND MSG="<message>"`: echo the message prepended with the configured default
-    prefix (or `echo: ` if no prefix is configured).
-  - `RESPOND TYPE=echo MSG="<message>"`: echo the message prepended with `echo: `.
-  - `RESPOND TYPE=command MSG="<message>"`: echo the message prepended with `// `.
-    Octopint can be configured to respond to these messages (e.g.
-    `RESPOND TYPE=command MSG=action:pause`).
-  - `RESPOND TYPE=error MSG="<message>"`: echo the message prepended with `!! `.
-  - `RESPOND PREFIX=<prefix> MSG="<message>"`: echo the message prepended with `<prefix>`
-    (The `PREFIX` parameter will take priority over the `TYPE` parameter)
+The following commands are availabe when the
+[respond config section](Config_Reference.md#respond) is enabled.
+- `M118 <message>`: echo the message prepended with the configured
+  default prefix (or `echo: ` if no prefix is configured).
+- `RESPOND MSG="<message>"`: echo the message prepended with the
+  configured default prefix (or `echo: ` if no prefix is configured).
+- `RESPOND TYPE=echo MSG="<message>"`: echo the message prepended with
+  `echo: `.
+- `RESPOND TYPE=command MSG="<message>"`: echo the message prepended
+  with `// `.  Octopint can be configured to respond to these messages
+  (e.g.  `RESPOND TYPE=command MSG=action:pause`).
+- `RESPOND TYPE=error MSG="<message>"`: echo the message prepended
+  with `!! `.
+- `RESPOND PREFIX=<prefix> MSG="<message>"`: echo the message
+  prepended with `<prefix>`. (The `PREFIX` parameter will take
+  priority over the `TYPE` parameter)
 
 ## Pause Resume
 
-The following commands are available when the "pause_resume" config section
-is enabled:
-  - `PAUSE`:  Pauses the current print.  The current position is captured for
-  restoration upon resume.
-  - `RESUME [VELOCITY=<value>]`: Resumes the print from a pause, first restoring
-  the previously captured position.  The VELOCITY parameter determines the speed
-  at which the tool should return to the original captured position.
-  - `CLEAR_PAUSE`:  Clears the current paused state without resuming the print.
-  This is useful if one decides to cancel a print after a PAUSE.  It is recommended
-  to add this to your start gcode to make sure the paused state is fresh for each
-  print.
+The following commands are available when the
+[pause_resume config section](Config_Reference.md#pause_resume) is
+enabled:
+- `PAUSE`: Pauses the current print. The current position is captured
+  for restoration upon resume.
+- `RESUME [VELOCITY=<value>]`: Resumes the print from a pause, first
+  restoring the previously captured position.  The VELOCITY parameter
+  determines the speed at which the tool should return to the original
+  captured position.
+- `CLEAR_PAUSE`: Clears the current paused state without resuming the
+  print. This is useful if one decides to cancel a print after a
+  PAUSE. It is recommended to add this to your start gcode to make
+  sure the paused state is fresh for each print.
 
 ## Filament Sensor
 
-The following command is available when the "filament_switch_sensor" config
-section is enabled.
- - `QUERY_FILAMENT_SENSOR SENSOR=<sensor_name>`: Queries the current status of
-  the filament sensor.  The data displayed on the terminal will depend on the
-  sensor type defined in the confguration.
- - `SET_FILAMENT_SENSOR SENSOR=<sensor_name> ENABLE=[0|1]`:  Sets the
-   filament sensor on/off.  If ENABLE is set to 0, the filament sensor will
-   be disabled, if set to 1 it is enabled.
+The following command is available when the
+[filament_switch_sensor config section](Config_Reference.md#filament_switch_sensor)
+is enabled.
+- `QUERY_FILAMENT_SENSOR SENSOR=<sensor_name>`: Queries the current
+  status of the filament sensor. The data displayed on the terminal
+  will depend on the sensor type defined in the confguration.
+- `SET_FILAMENT_SENSOR SENSOR=<sensor_name> ENABLE=[0|1]`: Sets the
+  filament sensor on/off. If ENABLE is set to 0, the filament sensor
+  will be disabled, if set to 1 it is enabled.
 
 ## Firmware Retraction
 
-The following commands are available when the "firmware_retraction"
-config section is enabled.  These commands allow you to utilise the
-firmware retraction feature available in many slicers, to reduce
-stringing during non-extrusion moves from one part of the print to
-another.  Appropriately configuring pressure advance reduces the length
-of retraction required.
- - `SET_RETRACTION [RETRACT_LENGTH=<mm>] [RETRACT_SPEED=<mm/s>]
-   [UNRETRACT_EXTRA_LENGTH=<mm>] [UNRETRACT_SPEED=<mm/s>]`: Adjust the
-   parameters used by firmware retraction. RETRACT_LENGTH determines
-   the length of filament to retract and unretract. The speed of
-   retraction is adjusted via RETRACT_SPEED, and is typically set
-   relatively high. The speed of unretraction is adjusted via
-   UNRETRACT_SPEED, and is not particularly critical, although often
-   lower than RETRACT_SPEED. In some cases it is useful to add a small
-   amount of additional length on unretraction, and this is set via
-   UNRETRACT_EXTRA_LENGTH. SET_RETRACTION is commonly set as part of
-   slicer per-filament configuration, as different filaments require
-   different parameter settings.
- - `GET_RETRACTION`: Queries the current parameters used by firmware
-   retraction and displays them on the terminal.
- - `G10`: Retracts the extruder using the currently configured
-   parameters.
- - `G11`: Unretracts the extruder using the currently configured
-   parameters.
+The following commands are available when the
+[firmware_retraction config section](Config_Reference.md#firmware_retraction)
+is enabled. These commands allow you to utilise the firmware
+retraction feature available in many slicers, to reduce stringing
+during non-extrusion moves from one part of the print to another.
+Appropriately configuring pressure advance reduces the length of
+retraction required.
+- `SET_RETRACTION [RETRACT_LENGTH=<mm>] [RETRACT_SPEED=<mm/s>]
+  [UNRETRACT_EXTRA_LENGTH=<mm>] [UNRETRACT_SPEED=<mm/s>]`: Adjust the
+  parameters used by firmware retraction. RETRACT_LENGTH determines
+  the length of filament to retract and unretract. The speed of
+  retraction is adjusted via RETRACT_SPEED, and is typically set
+  relatively high. The speed of unretraction is adjusted via
+  UNRETRACT_SPEED, and is not particularly critical, although often
+  lower than RETRACT_SPEED. In some cases it is useful to add a small
+  amount of additional length on unretraction, and this is set via
+  UNRETRACT_EXTRA_LENGTH. SET_RETRACTION is commonly set as part of
+  slicer per-filament configuration, as different filaments require
+  different parameter settings.
+- `GET_RETRACTION`: Queries the current parameters used by firmware
+  retraction and displays them on the terminal.
+- `G10`: Retracts the extruder using the currently configured
+  parameters.
+- `G11`: Unretracts the extruder using the currently configured
+  parameters.
 
 ## Skew Correction
 
-The following commands are available when the "skew_correction" config
-section is enabled.
-  - `SET_SKEW [XY=<ac_length,bd_length,ad_length>] [XZ=<ac,bd,ad>]
-    [YZ=<ac,bd,ad>] [CLEAR=<0|1>]`:  Configures the [skew_correction] module
-    with measurements (in mm) taken from a calibration print.  One may
-    enter measurements for any combination of planes, planes not entered will
-    retain their current value.  If `CLEAR=1` is entered then all skew
-    correction will be disabled.
-  - `GET_CURRENT_SKEW`: Reports the current printer skew for each plane in
-    both radians and degrees.  The skew is calculated based on parameters
-    provided via the `SET_SKEW` gcode.
-  - `CALC_MEASURED_SKEW [AC=<ac_length>] [BD=<bd_length>] [AD=<ad_length>]`:
-    Calculates and reports the skew (in radians and degrees) based on a
-    measured print.  This can be useful for determining the printer's current
-    skew after correction has been applied.  It may also be useful before
-    correction is applied to determine if skew correction is necessary.   See
-    skew_correction.md for details on skew calibration objects and
-    measurements.
-  - `SKEW_PROFILE [LOAD=<name>] [SAVE=<name>] [REMOVE=<name>]`: Profile
-    management for skew_correction.  LOAD will restore skew state from the
-    profile matching the supplied name. SAVE will save the current skew state
-    to a profile matching the supplied name.  Remove will delete the profile
-    matching the supplied name from persistent memory.  Note that after SAVE
-    or REMOVE operations have been run the SAVE_CONFIG gcode must be run
-    to make the changes to peristent memory permanent.
+The following commands are available when the
+[skew_correction config section](Config_Reference.md#skew_correction)
+is enabled (also see the [skew correction guide](skew_correction.md)):
+- `SET_SKEW [XY=<ac_length,bd_length,ad_length>] [XZ=<ac,bd,ad>]
+  [YZ=<ac,bd,ad>] [CLEAR=<0|1>]`: Configures the [skew_correction]
+  module with measurements (in mm) taken from a calibration print.
+  One may enter measurements for any combination of planes, planes not
+  entered will retain their current value. If `CLEAR=1` is entered
+  then all skew correction will be disabled.
+- `GET_CURRENT_SKEW`: Reports the current printer skew for each plane
+  in both radians and degrees. The skew is calculated based on
+  parameters provided via the `SET_SKEW` gcode.
+- `CALC_MEASURED_SKEW [AC=<ac_length>] [BD=<bd_length>]
+  [AD=<ad_length>]`: Calculates and reports the skew (in radians and
+  degrees) based on a measured print. This can be useful for
+  determining the printer's current skew after correction has been
+  applied. It may also be useful before correction is applied to
+  determine if skew correction is necessary. See skew_correction.md
+  for details on skew calibration objects and measurements.
+- `SKEW_PROFILE [LOAD=<name>] [SAVE=<name>] [REMOVE=<name>]`: Profile
+  management for skew_correction. LOAD will restore skew state from
+  the profile matching the supplied name. SAVE will save the current
+  skew state to a profile matching the supplied name. Remove will
+  delete the profile matching the supplied name from persistent
+  memory. Note that after SAVE or REMOVE operations have been run the
+  SAVE_CONFIG gcode must be run to make the changes to peristent
+  memory permanent.
 
 ## Delayed GCode
 
-The following command is enabled if a [delayed_gcode] config section has
-been enabled:
-  - `UPDATE_DELAYED_GCODE [ID=<name>] [DURATION=<seconds>]`:  Updates the
-    delay duration for the identified [delayed_gcode] and starts the timer
-    for gcode execution.  A value of 0 will cancel a pending delayed gcode
-    from executing.
+The following command is enabled if a
+[delayed_gcode config section](Config_Reference.md#delayed_gcode) has
+been enabled (also see the
+[template guide](Command_Templates.md#delayed-gcodes)):
+- `UPDATE_DELAYED_GCODE [ID=<name>] [DURATION=<seconds>]`:  Updates the
+  delay duration for the identified [delayed_gcode] and starts the timer
+  for gcode execution.  A value of 0 will cancel a pending delayed gcode
+  from executing.
 
 ## Resonance compensation
 
-The following command is enabled if an [input_shaper] config section has
-been enabled:
-  - `SET_INPUT_SHAPER [SHAPER_FREQ_X=<shaper_freq_x>]
-    [SHAPER_FREQ_Y=<shaper_freq_y>]
-    [DAMPING_RATIO_X=<damping_ratio_x>]
-    [DAMPING_RATIO_Y=<damping_ratio_y>] [SHAPER_TYPE=<shaper>]
-    [SHAPER_TYPE_X=<shaper_type_x>] [SHAPER_TYPE_Y=<shaper_type_y>]`:
-    Modify input shaper parameters. Note that SHAPER_TYPE parameter
-    resets input shaper for both X and Y axes even if different shaper
-    types have been configured in [input_shaper] section. SHAPER_TYPE
-    cannot be used together with either of SHAPER_TYPE_X and
-    SHAPER_TYPE_Y parameters. See
-    [config reference](Config_Reference.md#input_shaper) for more
-    details on each of these parameters.
+The following command is enabled if an
+[input_shaper config section](Config_Reference.md#input_shaper) has
+been enabled (also see the
+[resonance compensation guide](Resonance_Compensation.md)):
+- `SET_INPUT_SHAPER [SHAPER_FREQ_X=<shaper_freq_x>]
+  [SHAPER_FREQ_Y=<shaper_freq_y>]
+  [DAMPING_RATIO_X=<damping_ratio_x>]
+  [DAMPING_RATIO_Y=<damping_ratio_y>] [SHAPER_TYPE=<shaper>]
+  [SHAPER_TYPE_X=<shaper_type_x>] [SHAPER_TYPE_Y=<shaper_type_y>]`:
+  Modify input shaper parameters. Note that SHAPER_TYPE parameter
+  resets input shaper for both X and Y axes even if different shaper
+  types have been configured in [input_shaper] section. SHAPER_TYPE
+  cannot be used together with either of SHAPER_TYPE_X and
+  SHAPER_TYPE_Y parameters. See
+  [config reference](Config_Reference.md#input_shaper) for more
+  details on each of these parameters.
 
 ## Temperature Fan Commands
 
-The following command is available when a "temperature_fan" config
-section is enabled:
+The following command is available when a
+[temperature_fan config section](Config_Reference.md#temperature_fan)
+is enabled:
 - `SET_TEMPERATURE_FAN_TARGET temperature_fan=<temperature_fan_name>
   [target=<target_temperature>]`: Sets the target temperature for a
   temperature_fan. If a target is not supplied, it is set to the
@@ -643,53 +678,59 @@ section is enabled:
 
 ## Adxl345 Accelerometer Commands
 
-The following commands are available when an "adxl345" config section is
-enabled:
+The following commands are available when an
+[adxl345 config section](Config_Reference.md#adxl345) is enabled:
 - `ACCELEROMETER_MEASURE [CHIP=<config_name>] [RATE=<value>]
   [NAME=<value>]`: Starts accelerometer measurements at the requested
   number of samples per second. If CHIP is not specified it defaults
   to "default". Valid rates are 25, 50, 100, 200, 400, 800, 1600,
   and 3200. The command works in a start-stop mode: when executed for
-  the first time, it starts the measurements, next execution stops them.
-  If RATE is not specified, then the default value is used (either from
-  `printer.cfg` or `3200` default value). The results of measurements
-  are written to a file named `/tmp/adxl345-<name>.csv` where "<name>"
-  is the optional NAME parameter. If NAME is not specified it defaults
-  to the current time in "YYYYMMDD_HHMMSS" format.
+  the first time, it starts the measurements, next execution stops
+  them. If RATE is not specified, then the default value is used
+  (either from `printer.cfg` or `3200` default value). The results of
+  measurements are written to a file named `/tmp/adxl345-<name>.csv`
+  where "<name>" is the optional NAME parameter. If NAME is not
+  specified it defaults to the current time in "YYYYMMDD_HHMMSS"
+  format.
 - `ACCELEROMETER_QUERY [CHIP=<config_name>] [RATE=<value>]`: queries
   accelerometer for the current value. If CHIP is not specified it
-  defaults to "default". If RATE is not specified, the default value is
-  used. This command is useful to test the connection to the ADXL345
-  accelerometer: one of the returned values should be a free-fall
-  acceleration (+/- some noise of the chip).
+  defaults to "default". If RATE is not specified, the default value
+  is used. This command is useful to test the connection to the
+  ADXL345 accelerometer: one of the returned values should be a
+  free-fall acceleration (+/- some noise of the chip).
 
 ## Resonance Testing Commands
 
-The following commands are available when a "resonance_tester" config section
-is enabled:
-- `MEASURE_AXES_NOISE`: Measures and outputs the noise for all axes of all
-  enabled accelerometer chips.
-- `TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data> [NAME=<name>]
-  [FREQ_START=<min_freq>] [FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>]`:
-  Runs the resonance test in all configured probe points for the requested
-  axis (X or Y) and measures the acceleration using the accelerometer chips
-  configured for the respective axis. `OUTPUT` parameter is a comma-separated
-  list of which outputs will be written. If `raw_data` is requested, then the
+The following commands are available when a
+[resonance_tester config section](Config_Reference.md#resonance_tester)
+is enabled (also see the
+[measuring resonances guide](Measuring_Resonances.md)):
+- `MEASURE_AXES_NOISE`: Measures and outputs the noise for all axes of
+  all enabled accelerometer chips.
+- `TEST_RESONANCES AXIS=<axis> OUTPUT=<resonances,raw_data>
+  [NAME=<name>] [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
+  [HZ_PER_SEC=<hz_per_sec>]`: Runs the resonance test in all
+  configured probe points for the requested axis (X or Y) and measures
+  the acceleration using the accelerometer chips configured for the
+  respective axis. `OUTPUT` parameter is a comma-separated list of
+  which outputs will be written. If `raw_data` is requested, then the
   raw accelerometer data is written into a file or a series of files
   `/tmp/raw_data_<axis>_[<point>_]<name>.csv` with (`<point>_` part of
-  the name generated only if more than 1 probe point is configured). If
-  `resonances` is specified, the frequency response is calculated (across
-  all probe points) and written into `/tmp/resonances_<axis>_<name>.csv`
-  file. If unset, OUTPUT defaults to `resonances`, and NAME defaults to
-  the current time in "YYYYMMDD_HHMMSS" format.
+  the name generated only if more than 1 probe point is configured).
+  If `resonances` is specified, the frequency response is calculated
+  (across all probe points) and written into
+  `/tmp/resonances_<axis>_<name>.csv` file. If unset, OUTPUT defaults
+  to `resonances`, and NAME defaults to the current time in
+  "YYYYMMDD_HHMMSS" format.
 - `SHAPER_CALIBRATE [AXIS=<axis>] [NAME=<name>]
-  [FREQ_START=<min_freq>] [FREQ_END=<max_freq>] [HZ_PER_SEC=<hz_per_sec>]`:
-  Similarly to `TEST_RESONANCES`, runs the resonance test as configured, and
-  tries to find the optimal parameters for the input shaper for the requested
-  axis (or both X and Y axes if `AXIS` parameter is unset). The results of the
-  tuning are printed to the console, and the frequency responses and the
+  [FREQ_START=<min_freq>] [FREQ_END=<max_freq>]
+  [HZ_PER_SEC=<hz_per_sec>]`: Similarly to `TEST_RESONANCES`, runs the
+  resonance test as configured, and tries to find the optimal
+  parameters for the input shaper for the requested axis (or both X
+  and Y axes if `AXIS` parameter is unset). The results of the tuning
+  are printed to the console, and the frequency responses and the
   different input shapers values are written to a CSV file(s)
-  `/tmp/calibration_data_<axis>_<name>.csv`. Unless specified, NAME defaults
-  to the current time in "YYYYMMDD_HHMMSS" format. Note that the suggested
-  input shaper parameters can be persisted in the config by issuing
-  `SAVE_CONFIG` command.
+  `/tmp/calibration_data_<axis>_<name>.csv`. Unless specified, NAME
+  defaults to the current time in "YYYYMMDD_HHMMSS" format. Note that
+  the suggested input shaper parameters can be persisted in the config
+  by issuing `SAVE_CONFIG` command.