diff --git a/klippy/chipmisc.py b/klippy/chipmisc.py
index 8ca90eca..26931076 100644
--- a/klippy/chipmisc.py
+++ b/klippy/chipmisc.py
@@ -41,6 +41,7 @@ SERVO_SIGNAL_PERIOD = 0.020
 
 class PrinterServo:
     def __init__(self, printer, config):
+        self.printer = printer
         self.mcu_servo = pins.setup_pin(printer, 'pwm', config.get('pin'))
         self.mcu_servo.setup_max_duration(0.)
         self.mcu_servo.setup_cycle_time(SERVO_SIGNAL_PERIOD)
@@ -53,6 +54,9 @@ class PrinterServo:
         self.angle_to_width = (self.max_width - self.min_width) / self.max_angle
         self.width_to_value = 1. / SERVO_SIGNAL_PERIOD
         self.last_value = self.last_value_time = 0.
+        self.gcode = printer.objects['gcode']
+        self.gcode.register_command("SET_SERVO", self.cmd_SET_SERVO,
+                                    desc=self.cmd_SET_SERVO_help)
     def set_pwm(self, print_time, value):
         if value == self.last_value:
             return
@@ -60,7 +64,6 @@ class PrinterServo:
         self.mcu_servo.set_pwm(print_time, value)
         self.last_value = value
         self.last_value_time = print_time
-    # External commands
     def set_angle(self, print_time, angle):
         angle = max(0., min(self.max_angle, angle))
         width = self.min_width + angle * self.angle_to_width
@@ -68,9 +71,20 @@ class PrinterServo:
     def set_pulse_width(self, print_time, width):
         width = max(self.min_width, min(self.max_width, width))
         self.set_pwm(print_time, width * self.width_to_value)
-
-def get_printer_servo(printer, name):
-    return printer.objects.get('servo ' + name)
+    cmd_SET_SERVO_help = "Set servo angle"
+    def cmd_SET_SERVO(self, params):
+        servo_name = self.gcode.get_str('SERVO', params)
+        servo = self.printer.objects.get('servo ' + servo_name)
+        if servo is not self:
+            if servo is None:
+                raise self.gcode.error("Servo not configured")
+            return servo.cmd_SET_SERVO(params)
+        print_time = self.printer.objects['toolhead'].get_last_move_time()
+        if 'WIDTH' in params:
+            self.set_pulse_width(print_time,
+                                 self.gcode.get_float('WIDTH', params))
+        else:
+            self.set_angle(print_time, self.gcode.get_float('ANGLE', params))
 
 
 ######################################################################
diff --git a/klippy/gcode.py b/klippy/gcode.py
index 57a87f90..4af97e8a 100644
--- a/klippy/gcode.py
+++ b/klippy/gcode.py
@@ -4,13 +4,14 @@
 #
 # This file may be distributed under the terms of the GNU GPLv3 license.
 import os, re, logging, collections
-import homing, extruder, chipmisc
+import homing, extruder
 
 class error(Exception):
     pass
 
 # Parse and handle G-Code commands
 class GCodeParser:
+    error = error
     RETRY_TIME = 0.100
     def __init__(self, printer, fd):
         self.printer = printer
@@ -48,6 +49,9 @@ class GCodeParser:
         self.homing_add = [0.0, 0.0, 0.0, 0.0]
         self.axis2pos = {'X': 0, 'Y': 1, 'Z': 2, 'E': 3}
     def register_command(self, cmd, func, when_not_ready=False, desc=None):
+        if not (len(cmd) >= 2 and not cmd[0].isupper() and cmd[1].isdigit()):
+            origfunc = func
+            func = lambda params: origfunc(self.get_extended_params(params))
         self.ready_gcode_handlers[cmd] = func
         if when_not_ready:
             self.base_gcode_handlers[cmd] = func
@@ -305,7 +309,7 @@ class GCodeParser:
         'G1', 'G4', 'G20', 'G28', 'G90', 'G91', 'G92',
         'M82', 'M83', 'M18', 'M105', 'M104', 'M109', 'M112', 'M114', 'M115',
         'M140', 'M190', 'M106', 'M107', 'M206', 'M400',
-        'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE', 'SET_SERVO',
+        'IGNORE', 'QUERY_ENDSTOPS', 'PID_TUNE',
         'RESTART', 'FIRMWARE_RESTART', 'ECHO', 'STATUS', 'HELP']
     cmd_G1_aliases = ['G0']
     def cmd_G1(self, params):
@@ -467,18 +471,6 @@ class GCodeParser:
         temp = self.get_float('S', params)
         heater.start_auto_tune(temp)
         self.bg_temp(heater)
-    cmd_SET_SERVO_help = "Set servo angle"
-    def cmd_SET_SERVO(self, params):
-        params = self.get_extended_params(params)
-        name = self.get_str('SERVO', params)
-        s = chipmisc.get_printer_servo(self.printer, name)
-        if s is None:
-            raise error("Servo not configured")
-        print_time = self.toolhead.get_last_move_time()
-        if 'WIDTH' in params:
-            s.set_pulse_width(print_time, self.get_float('WIDTH', params))
-            return
-        s.set_angle(print_time, self.get_float('ANGLE', params))
     def prep_restart(self):
         if self.is_printer_ready:
             self.respond_info("Preparing to restart...")
diff --git a/klippy/klippy.py b/klippy/klippy.py
index 7170a287..472a10bd 100644
--- a/klippy/klippy.py
+++ b/klippy/klippy.py
@@ -130,8 +130,8 @@ class Printer:
         if bglogger is not None:
             bglogger.set_rollover_info("config", None)
         self.reactor = reactor.Reactor()
-        self.objects = {}
         self.gcode = gcode.GCodeParser(self, input_fd)
+        self.objects = {'gcode': self.gcode}
         self.stats_timer = self.reactor.register_timer(self._stats)
         self.connect_timer = self.reactor.register_timer(
             self._connect, self.reactor.NOW)