From e8701195e66f2d27ffe17fb514eae8173795aaf7 Mon Sep 17 00:00:00 2001
From: Georgiy Bondarenko <69736697+nehilo@users.noreply.github.com>
Date: Thu, 4 Mar 2021 22:54:23 +0500
Subject: Initial commit

---
 Marlin/src/MarlinCore.cpp | 1290 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 1290 insertions(+)
 create mode 100644 Marlin/src/MarlinCore.cpp

(limited to 'Marlin/src/MarlinCore.cpp')

diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp
new file mode 100644
index 0000000..c8029e3
--- /dev/null
+++ b/Marlin/src/MarlinCore.cpp
@@ -0,0 +1,1290 @@
+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+/**
+ * About Marlin
+ *
+ * This firmware is a mashup between Sprinter and grbl.
+ *  - https://github.com/kliment/Sprinter
+ *  - https://github.com/grbl/grbl
+ */
+
+#include "MarlinCore.h"
+
+#if ENABLED(MARLIN_DEV_MODE)
+  #warning "WARNING! Disable MARLIN_DEV_MODE for the final build!"
+#endif
+
+#include "HAL/shared/Delay.h"
+#include "HAL/shared/esp_wifi.h"
+
+#ifdef ARDUINO
+  #include <pins_arduino.h>
+#endif
+#include <math.h>
+
+#include "core/utility.h"
+
+#include "module/motion.h"
+#include "module/planner.h"
+#include "module/endstops.h"
+#include "module/temperature.h"
+#include "module/settings.h"
+#include "module/printcounter.h" // PrintCounter or Stopwatch
+
+#include "module/stepper.h"
+#include "module/stepper/indirection.h"
+
+#include "gcode/gcode.h"
+#include "gcode/parser.h"
+#include "gcode/queue.h"
+
+#include "feature/pause.h"
+#include "sd/cardreader.h"
+
+#include "lcd/marlinui.h"
+#if HAS_TOUCH_BUTTONS
+  #include "lcd/touch/touch_buttons.h"
+#endif
+
+#if HAS_TFT_LVGL_UI
+  #include "lcd/extui/lib/mks_ui/tft_lvgl_configuration.h"
+  #include "lcd/extui/lib/mks_ui/draw_ui.h"
+  #include "lcd/extui/lib/mks_ui/mks_hardware_test.h"
+  #include <lvgl.h>
+#endif
+
+#if ENABLED(DWIN_CREALITY_LCD)
+  #include "lcd/dwin/e3v2/dwin.h"
+  #include "lcd/dwin/dwin_lcd.h"
+  #include "lcd/dwin/e3v2/rotary_encoder.h"
+#endif
+
+#if ENABLED(EXTENSIBLE_UI)
+  #include "lcd/extui/ui_api.h"
+#endif
+
+#if HAS_ETHERNET
+  #include "feature/ethernet.h"
+#endif
+
+#if ENABLED(IIC_BL24CXX_EEPROM)
+  #include "libs/BL24CXX.h"
+#endif
+
+#if ENABLED(DIRECT_STEPPING)
+  #include "feature/direct_stepping.h"
+#endif
+
+#if ENABLED(HOST_ACTION_COMMANDS)
+  #include "feature/host_actions.h"
+#endif
+
+#if USE_BEEPER
+  #include "libs/buzzer.h"
+#endif
+
+#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
+  #include "feature/closedloop.h"
+#endif
+
+#if HAS_MOTOR_CURRENT_I2C
+  #include "feature/digipot/digipot.h"
+#endif
+
+#if ENABLED(MIXING_EXTRUDER)
+  #include "feature/mixing.h"
+#endif
+
+#if ENABLED(MAX7219_DEBUG)
+  #include "feature/max7219.h"
+#endif
+
+#if HAS_COLOR_LEDS
+  #include "feature/leds/leds.h"
+#endif
+
+#if ENABLED(BLTOUCH)
+  #include "feature/bltouch.h"
+#endif
+
+#if ENABLED(POLL_JOG)
+  #include "feature/joystick.h"
+#endif
+
+#if HAS_SERVOS
+  #include "module/servo.h"
+#endif
+
+#if ENABLED(HAS_MOTOR_CURRENT_DAC)
+  #include "feature/dac/stepper_dac.h"
+#endif
+
+#if ENABLED(EXPERIMENTAL_I2CBUS)
+  #include "feature/twibus.h"
+#endif
+
+#if ENABLED(I2C_POSITION_ENCODERS)
+  #include "feature/encoder_i2c.h"
+#endif
+
+#if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF)
+  #include "feature/tmc_util.h"
+#endif
+
+#if HAS_CUTTER
+  #include "feature/spindle_laser.h"
+#endif
+
+#if ENABLED(SDSUPPORT)
+  CardReader card;
+#endif
+
+#if ENABLED(G38_PROBE_TARGET)
+  uint8_t G38_move; // = 0
+  bool G38_did_trigger; // = false
+#endif
+
+#if ENABLED(DELTA)
+  #include "module/delta.h"
+#elif IS_SCARA
+  #include "module/scara.h"
+#endif
+
+#if HAS_LEVELING
+  #include "feature/bedlevel/bedlevel.h"
+#endif
+
+#if ENABLED(GCODE_REPEAT_MARKERS)
+  #include "feature/repeat.h"
+#endif
+
+#if ENABLED(POWER_LOSS_RECOVERY)
+  #include "feature/powerloss.h"
+#endif
+
+#if ENABLED(CANCEL_OBJECTS)
+  #include "feature/cancel_object.h"
+#endif
+
+#if HAS_FILAMENT_SENSOR
+  #include "feature/runout.h"
+#endif
+
+#if EITHER(PROBE_TARE, HAS_Z_SERVO_PROBE)
+  #include "module/probe.h"
+#endif
+
+#if ENABLED(HOTEND_IDLE_TIMEOUT)
+  #include "feature/hotend_idle.h"
+#endif
+
+#if ENABLED(TEMP_STAT_LEDS)
+  #include "feature/leds/tempstat.h"
+#endif
+
+#if ENABLED(CASE_LIGHT_ENABLE)
+  #include "feature/caselight.h"
+#endif
+
+#if HAS_FANMUX
+  #include "feature/fanmux.h"
+#endif
+
+#if DO_SWITCH_EXTRUDER || ANY(SWITCHING_NOZZLE, PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER, ELECTROMAGNETIC_SWITCHING_TOOLHEAD, SWITCHING_TOOLHEAD)
+  #include "module/tool_change.h"
+#endif
+
+#if ENABLED(USE_CONTROLLER_FAN)
+  #include "feature/controllerfan.h"
+#endif
+
+#if HAS_PRUSA_MMU2
+  #include "feature/mmu/mmu2.h"
+#endif
+
+#if HAS_L64XX
+  #include "libs/L64XX/L64XX_Marlin.h"
+#endif
+
+#if ENABLED(PASSWORD_FEATURE)
+  #include "feature/password/password.h"
+#endif
+
+PGMSTR(M112_KILL_STR, "M112 Shutdown");
+
+MarlinState marlin_state = MF_INITIALIZING;
+
+// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop
+bool wait_for_heatup = true;
+
+// For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop
+#if HAS_RESUME_CONTINUE
+  bool wait_for_user; // = false;
+
+  void wait_for_user_response(millis_t ms/*=0*/, const bool no_sleep/*=false*/) {
+    UNUSED(no_sleep);
+    KEEPALIVE_STATE(PAUSED_FOR_USER);
+    wait_for_user = true;
+    if (ms) ms += millis(); // expire time
+    while (wait_for_user && !(ms && ELAPSED(millis(), ms)))
+      idle(TERN_(ADVANCED_PAUSE_FEATURE, no_sleep));
+    wait_for_user = false;
+  }
+
+#endif
+
+/**
+ * ***************************************************************************
+ * ******************************** FUNCTIONS ********************************
+ * ***************************************************************************
+ */
+
+/**
+ * Stepper Reset (RigidBoard, et.al.)
+ */
+#if HAS_STEPPER_RESET
+  void disableStepperDrivers() { OUT_WRITE(STEPPER_RESET_PIN, LOW); } // Drive down to keep motor driver chips in reset
+  void enableStepperDrivers()  { SET_INPUT(STEPPER_RESET_PIN); }      // Set to input, allowing pullups to pull the pin high
+#endif
+
+/**
+ * Sensitive pin test for M42, M226
+ */
+
+#include "pins/sensitive_pins.h"
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wnarrowing"
+
+bool pin_is_protected(const pin_t pin) {
+  static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS;
+  LOOP_L_N(i, COUNT(sensitive_pins)) {
+    pin_t sensitive_pin;
+    memcpy_P(&sensitive_pin, &sensitive_pins[i], sizeof(pin_t));
+    if (pin == sensitive_pin) return true;
+  }
+  return false;
+}
+
+#pragma GCC diagnostic pop
+
+void enable_e_steppers() {
+  #define _ENA_E(N) ENABLE_AXIS_E##N();
+  REPEAT(E_STEPPERS, _ENA_E)
+}
+
+void enable_all_steppers() {
+  TERN_(AUTO_POWER_CONTROL, powerManager.power_on());
+  ENABLE_AXIS_X();
+  ENABLE_AXIS_Y();
+  ENABLE_AXIS_Z();
+  enable_e_steppers();
+
+  TERN_(EXTENSIBLE_UI, ExtUI::onSteppersEnabled());
+}
+
+void disable_e_steppers() {
+  #define _DIS_E(N) DISABLE_AXIS_E##N();
+  REPEAT(E_STEPPERS, _DIS_E)
+}
+
+void disable_e_stepper(const uint8_t e) {
+  #define _CASE_DIS_E(N) case N: DISABLE_AXIS_E##N(); break;
+  switch (e) {
+    REPEAT(EXTRUDERS, _CASE_DIS_E)
+  }
+}
+
+void disable_all_steppers() {
+  DISABLE_AXIS_X();
+  DISABLE_AXIS_Y();
+  DISABLE_AXIS_Z();
+  disable_e_steppers();
+
+  TERN_(EXTENSIBLE_UI, ExtUI::onSteppersDisabled());
+}
+
+/**
+ * A Print Job exists when the timer is running or SD printing
+ */
+bool printJobOngoing() {
+  return print_job_timer.isRunning() || IS_SD_PRINTING();
+}
+
+/**
+ * Printing is active when the print job timer is running
+ */
+bool printingIsActive() {
+  return !did_pause_print && (print_job_timer.isRunning() || IS_SD_PRINTING());
+}
+
+/**
+ * Printing is paused according to SD or host indicators
+ */
+bool printingIsPaused() {
+  return did_pause_print || print_job_timer.isPaused() || IS_SD_PAUSED();
+}
+
+void startOrResumeJob() {
+  if (!printingIsPaused()) {
+    TERN_(GCODE_REPEAT_MARKERS, repeat.reset());
+    TERN_(CANCEL_OBJECTS, cancelable.reset());
+    TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator = 0);
+    #if BOTH(LCD_SET_PROGRESS_MANUALLY, USE_M73_REMAINING_TIME)
+      ui.reset_remaining_time();
+    #endif
+  }
+  print_job_timer.start();
+}
+
+#if ENABLED(SDSUPPORT)
+
+  inline void abortSDPrinting() {
+    IF_DISABLED(NO_SD_AUTOSTART, card.autofile_cancel());
+    card.endFilePrint(TERN_(SD_RESORT, true));
+
+    queue.clear();
+    quickstop_stepper();
+
+    print_job_timer.abort();
+
+    IF_DISABLED(SD_ABORT_NO_COOLDOWN, thermalManager.disable_all_heaters());
+
+    TERN(HAS_CUTTER, cutter.kill(), thermalManager.zero_fan_speeds()); // Full cutter shutdown including ISR control
+
+    wait_for_heatup = false;
+
+    TERN_(POWER_LOSS_RECOVERY, recovery.purge());
+
+    #ifdef EVENT_GCODE_SD_ABORT
+      queue.inject_P(PSTR(EVENT_GCODE_SD_ABORT));
+    #endif
+
+    TERN_(PASSWORD_AFTER_SD_PRINT_ABORT, password.lock_machine());
+  }
+
+  inline void finishSDPrinting() {
+    if (queue.enqueue_one_P(PSTR("M1001"))) {
+      marlin_state = MF_RUNNING;
+      TERN_(PASSWORD_AFTER_SD_PRINT_END, password.lock_machine());
+    }
+  }
+
+#endif // SDSUPPORT
+
+/**
+ * Minimal management of Marlin's core activities:
+ *  - Keep the command buffer full
+ *  - Check for maximum inactive time between commands
+ *  - Check for maximum inactive time between stepper commands
+ *  - Check if CHDK_PIN needs to go LOW
+ *  - Check for KILL button held down
+ *  - Check for HOME button held down
+ *  - Check if cooling fan needs to be switched on
+ *  - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT)
+ *  - Pulse FET_SAFETY_PIN if it exists
+ */
+inline void manage_inactivity(const bool ignore_stepper_queue=false) {
+
+  if (queue.length < BUFSIZE) queue.get_available_commands();
+
+  const millis_t ms = millis();
+
+  // Prevent steppers timing-out in the middle of M600
+  // unless PAUSE_PARK_NO_STEPPER_TIMEOUT is disabled
+  const bool parked_or_ignoring = ignore_stepper_queue
+                               || TERN0(PAUSE_PARK_NO_STEPPER_TIMEOUT, did_pause_print);
+
+  // Reset both the M18/M84 activity timeout and the M85 max 'kill' timeout
+  if (parked_or_ignoring) gcode.reset_stepper_timeout(ms);
+
+  if (gcode.stepper_max_timed_out(ms)) {
+    SERIAL_ERROR_START();
+    SERIAL_ECHOLNPAIR(STR_KILL_INACTIVE_TIME, parser.command_ptr);
+    kill();
+  }
+
+  // M18 / M84 : Handle steppers inactive time timeout
+  if (gcode.stepper_inactive_time) {
+
+    static bool already_shutdown_steppers; // = false
+
+    // Any moves in the planner? Resets both the M18/M84
+    // activity timeout and the M85 max 'kill' timeout
+    if (planner.has_blocks_queued())
+      gcode.reset_stepper_timeout(ms);
+    else if (!parked_or_ignoring && gcode.stepper_inactive_timeout()) {
+      if (!already_shutdown_steppers) {
+        already_shutdown_steppers = true;  // L6470 SPI will consume 99% of free time without this
+
+        // Individual axes will be disabled if configured
+        if (ENABLED(DISABLE_INACTIVE_X)) DISABLE_AXIS_X();
+        if (ENABLED(DISABLE_INACTIVE_Y)) DISABLE_AXIS_Y();
+        if (ENABLED(DISABLE_INACTIVE_Z)) DISABLE_AXIS_Z();
+        if (ENABLED(DISABLE_INACTIVE_E)) disable_e_steppers();
+
+        TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled());
+      }
+    }
+    else
+      already_shutdown_steppers = false;
+  }
+
+  #if PIN_EXISTS(CHDK) // Check if pin should be set to LOW (after M240 set it HIGH)
+    extern millis_t chdk_timeout;
+    if (chdk_timeout && ELAPSED(ms, chdk_timeout)) {
+      chdk_timeout = 0;
+      WRITE(CHDK_PIN, LOW);
+    }
+  #endif
+
+  #if HAS_KILL
+
+    // Check if the kill button was pressed and wait just in case it was an accidental
+    // key kill key press
+    // -------------------------------------------------------------------------------
+    static int killCount = 0;   // make the inactivity button a bit less responsive
+    const int KILL_DELAY = 750;
+    if (kill_state())
+      killCount++;
+    else if (killCount > 0)
+      killCount--;
+
+    // Exceeded threshold and we can confirm that it was not accidental
+    // KILL the machine
+    // ----------------------------------------------------------------
+    if (killCount >= KILL_DELAY) {
+      SERIAL_ERROR_MSG(STR_KILL_BUTTON);
+      kill();
+    }
+  #endif
+
+  #if HAS_HOME
+    // Handle a standalone HOME button
+    constexpr millis_t HOME_DEBOUNCE_DELAY = 1000UL;
+    static millis_t next_home_key_ms; // = 0
+    if (!IS_SD_PRINTING() && !READ(HOME_PIN)) { // HOME_PIN goes LOW when pressed
+      const millis_t ms = millis();
+      if (ELAPSED(ms, next_home_key_ms)) {
+        next_home_key_ms = ms + HOME_DEBOUNCE_DELAY;
+        LCD_MESSAGEPGM(MSG_AUTO_HOME);
+        queue.inject_P(G28_STR);
+      }
+    }
+  #endif
+
+  TERN_(USE_CONTROLLER_FAN, controllerFan.update()); // Check if fan should be turned on to cool stepper drivers down
+
+  TERN_(AUTO_POWER_CONTROL, powerManager.check());
+
+  TERN_(HOTEND_IDLE_TIMEOUT, hotend_idle.check());
+
+  #if ENABLED(EXTRUDER_RUNOUT_PREVENT)
+    if (thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP
+      && ELAPSED(ms, gcode.previous_move_ms + SEC_TO_MS(EXTRUDER_RUNOUT_SECONDS))
+      && !planner.has_blocks_queued()
+    ) {
+      #if ENABLED(SWITCHING_EXTRUDER)
+        bool oldstatus;
+        switch (active_extruder) {
+          default: oldstatus = E0_ENABLE_READ(); ENABLE_AXIS_E0(); break;
+          #if E_STEPPERS > 1
+            case 2: case 3: oldstatus = E1_ENABLE_READ(); ENABLE_AXIS_E1(); break;
+            #if E_STEPPERS > 2
+              case 4: case 5: oldstatus = E2_ENABLE_READ(); ENABLE_AXIS_E2(); break;
+              #if E_STEPPERS > 3
+                case 6: case 7: oldstatus = E3_ENABLE_READ(); ENABLE_AXIS_E3(); break;
+              #endif // E_STEPPERS > 3
+            #endif // E_STEPPERS > 2
+          #endif // E_STEPPERS > 1
+        }
+      #else // !SWITCHING_EXTRUDER
+        bool oldstatus;
+        switch (active_extruder) {
+          default:
+          #define _CASE_EN(N) case N: oldstatus = E##N##_ENABLE_READ(); ENABLE_AXIS_E##N(); break;
+          REPEAT(E_STEPPERS, _CASE_EN);
+        }
+      #endif
+
+      const float olde = current_position.e;
+      current_position.e += EXTRUDER_RUNOUT_EXTRUDE;
+      line_to_current_position(MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED));
+      current_position.e = olde;
+      planner.set_e_position_mm(olde);
+      planner.synchronize();
+
+      #if ENABLED(SWITCHING_EXTRUDER)
+        switch (active_extruder) {
+          default: oldstatus = E0_ENABLE_WRITE(oldstatus); break;
+          #if E_STEPPERS > 1
+            case 2: case 3: oldstatus = E1_ENABLE_WRITE(oldstatus); break;
+            #if E_STEPPERS > 2
+              case 4: case 5: oldstatus = E2_ENABLE_WRITE(oldstatus); break;
+            #endif // E_STEPPERS > 2
+          #endif // E_STEPPERS > 1
+        }
+      #else // !SWITCHING_EXTRUDER
+        switch (active_extruder) {
+          #define _CASE_RESTORE(N) case N: E##N##_ENABLE_WRITE(oldstatus); break;
+          REPEAT(E_STEPPERS, _CASE_RESTORE);
+        }
+      #endif // !SWITCHING_EXTRUDER
+
+      gcode.reset_stepper_timeout(ms);
+    }
+  #endif // EXTRUDER_RUNOUT_PREVENT
+
+  #if ENABLED(DUAL_X_CARRIAGE)
+    // handle delayed move timeout
+    if (delayed_move_time && ELAPSED(ms, delayed_move_time) && IsRunning()) {
+      // travel moves have been received so enact them
+      delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
+      destination = current_position;
+      prepare_line_to_destination();
+      planner.synchronize();
+    }
+  #endif
+
+  TERN_(TEMP_STAT_LEDS, handle_status_leds());
+
+  TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers());
+
+  TERN_(MONITOR_L6470_DRIVER_STATUS, L64xxManager.monitor_driver());
+
+  // Limit check_axes_activity frequency to 10Hz
+  static millis_t next_check_axes_ms = 0;
+  if (ELAPSED(ms, next_check_axes_ms)) {
+    planner.check_axes_activity();
+    next_check_axes_ms = ms + 100UL;
+  }
+
+  #if PIN_EXISTS(FET_SAFETY)
+    static millis_t FET_next;
+    if (ELAPSED(ms, FET_next)) {
+      FET_next = ms + FET_SAFETY_DELAY;  // 2µs pulse every FET_SAFETY_DELAY mS
+      OUT_WRITE(FET_SAFETY_PIN, !FET_SAFETY_INVERTED);
+      DELAY_US(2);
+      WRITE(FET_SAFETY_PIN, FET_SAFETY_INVERTED);
+    }
+  #endif
+}
+
+/**
+ * Standard idle routine keeps the machine alive:
+ *  - Core Marlin activities
+ *  - Manage heaters (and Watchdog)
+ *  - Max7219 heartbeat, animation, etc.
+ *
+ *  Only after setup() is complete:
+ *  - Handle filament runout sensors
+ *  - Run HAL idle tasks
+ *  - Handle Power-Loss Recovery
+ *  - Run StallGuard endstop checks
+ *  - Handle SD Card insert / remove
+ *  - Handle USB Flash Drive insert / remove
+ *  - Announce Host Keepalive state (if any)
+ *  - Update the Print Job Timer state
+ *  - Update the Beeper queue
+ *  - Read Buttons and Update the LCD
+ *  - Run i2c Position Encoders
+ *  - Auto-report Temperatures / SD Status
+ *  - Update the Průša MMU2
+ *  - Handle Joystick jogging
+ */
+void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {
+  #if ENABLED(MARLIN_DEV_MODE)
+    static uint16_t idle_depth = 0;
+    if (++idle_depth > 5) SERIAL_ECHOLNPAIR("idle() call depth: ", idle_depth);
+  #endif
+
+  // Core Marlin activities
+  manage_inactivity(TERN_(ADVANCED_PAUSE_FEATURE, no_stepper_sleep));
+
+  // Manage Heaters (and Watchdog)
+  thermalManager.manage_heater();
+
+  // Max7219 heartbeat, animation, etc
+  TERN_(MAX7219_DEBUG, max7219.idle_tasks());
+
+  // Return if setup() isn't completed
+  if (marlin_state == MF_INITIALIZING) goto IDLE_DONE;
+
+  // Handle filament runout sensors
+  TERN_(HAS_FILAMENT_SENSOR, runout.run());
+
+  // Run HAL idle tasks
+  TERN_(HAL_IDLETASK, HAL_idletask());
+
+  // Check network connection
+  TERN_(HAS_ETHERNET, ethernet.check());
+
+  // Handle Power-Loss Recovery
+  #if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS)
+    if (printJobOngoing()) recovery.outage();
+  #endif
+
+  // Run StallGuard endstop checks
+  #if ENABLED(SPI_ENDSTOPS)
+    if (endstops.tmc_spi_homing.any
+      && TERN1(IMPROVE_HOMING_RELIABILITY, ELAPSED(millis(), sg_guard_period))
+    ) LOOP_L_N(i, 4) // Read SGT 4 times per idle loop
+        if (endstops.tmc_spi_homing_check()) break;
+  #endif
+
+  // Handle SD Card insert / remove
+  TERN_(SDSUPPORT, card.manage_media());
+
+  // Handle USB Flash Drive insert / remove
+  TERN_(USB_FLASH_DRIVE_SUPPORT, Sd2Card::idle());
+
+  // Announce Host Keepalive state (if any)
+  TERN_(HOST_KEEPALIVE_FEATURE, gcode.host_keepalive());
+
+  // Update the Print Job Timer state
+  TERN_(PRINTCOUNTER, print_job_timer.tick());
+
+  // Update the Beeper queue
+  TERN_(USE_BEEPER, buzzer.tick());
+
+  // Handle UI input / draw events
+  TERN(DWIN_CREALITY_LCD, DWIN_Update(), ui.update());
+
+  // Run i2c Position Encoders
+  #if ENABLED(I2C_POSITION_ENCODERS)
+  {
+    static millis_t i2cpem_next_update_ms;
+    if (planner.has_blocks_queued()) {
+      const millis_t ms = millis();
+      if (ELAPSED(ms, i2cpem_next_update_ms)) {
+        I2CPEM.update();
+        i2cpem_next_update_ms = ms + I2CPE_MIN_UPD_TIME_MS;
+      }
+    }
+  }
+  #endif
+
+  // Auto-report Temperatures / SD Status
+  #if HAS_AUTO_REPORTING
+    if (!gcode.autoreport_paused) {
+      TERN_(AUTO_REPORT_TEMPERATURES, thermalManager.auto_reporter.tick());
+      TERN_(AUTO_REPORT_SD_STATUS, card.auto_reporter.tick());
+    }
+  #endif
+
+  // Update the Průša MMU2
+  TERN_(HAS_PRUSA_MMU2, mmu2.mmu_loop());
+
+  // Handle Joystick jogging
+  TERN_(POLL_JOG, joystick.inject_jog_moves());
+
+  // Direct Stepping
+  TERN_(DIRECT_STEPPING, page_manager.write_responses());
+
+  // Update the LVGL interface
+  TERN_(HAS_TFT_LVGL_UI, LV_TASK_HANDLER());
+
+  IDLE_DONE:
+  TERN_(MARLIN_DEV_MODE, idle_depth--);
+  return;
+}
+
+/**
+ * Kill all activity and lock the machine.
+ * After this the machine will need to be reset.
+ */
+void kill(PGM_P const lcd_error/*=nullptr*/, PGM_P const lcd_component/*=nullptr*/, const bool steppers_off/*=false*/) {
+  thermalManager.disable_all_heaters();
+
+  TERN_(HAS_CUTTER, cutter.kill()); // Full cutter shutdown including ISR control
+
+  SERIAL_ERROR_MSG(STR_ERR_KILLED);
+
+  #if HAS_DISPLAY
+    ui.kill_screen(lcd_error ?: GET_TEXT(MSG_KILLED), lcd_component ?: NUL_STR);
+  #else
+    UNUSED(lcd_error);
+    UNUSED(lcd_component);
+  #endif
+
+  #if HAS_TFT_LVGL_UI
+    lv_draw_error_message(lcd_error);
+  #endif
+
+  #ifdef ACTION_ON_KILL
+    host_action_kill();
+  #endif
+
+  minkill(steppers_off);
+}
+
+void minkill(const bool steppers_off/*=false*/) {
+
+  // Wait a short time (allows messages to get out before shutting down.
+  for (int i = 1000; i--;) DELAY_US(600);
+
+  cli(); // Stop interrupts
+
+  // Wait to ensure all interrupts stopped
+  for (int i = 1000; i--;) DELAY_US(250);
+
+  // Reiterate heaters off
+  thermalManager.disable_all_heaters();
+
+  TERN_(HAS_CUTTER, cutter.kill());  // Reiterate cutter shutdown
+
+  // Power off all steppers (for M112) or just the E steppers
+  steppers_off ? disable_all_steppers() : disable_e_steppers();
+
+  TERN_(PSU_CONTROL, PSU_OFF());
+
+  TERN_(HAS_SUICIDE, suicide());
+
+  #if HAS_KILL
+
+    // Wait for kill to be released
+    while (kill_state()) watchdog_refresh();
+
+    // Wait for kill to be pressed
+    while (!kill_state()) watchdog_refresh();
+
+    void (*resetFunc)() = 0;      // Declare resetFunc() at address 0
+    resetFunc();                  // Jump to address 0
+
+  #else
+
+    for (;;) watchdog_refresh();  // Wait for reset
+
+  #endif
+}
+
+/**
+ * Turn off heaters and stop the print in progress
+ * After a stop the machine may be resumed with M999
+ */
+void stop() {
+  thermalManager.disable_all_heaters(); // 'unpause' taken care of in here
+
+  print_job_timer.stop();
+
+  #if ENABLED(PROBING_FANS_OFF)
+    if (thermalManager.fans_paused) thermalManager.set_fans_paused(false); // put things back the way they were
+  #endif
+
+  if (IsRunning()) {
+    SERIAL_ERROR_MSG(STR_ERR_STOPPED);
+    LCD_MESSAGEPGM(MSG_STOPPED);
+    safe_delay(350);       // allow enough time for messages to get out before stopping
+    marlin_state = MF_STOPPED;
+  }
+}
+
+inline void tmc_standby_setup() {
+  #if PIN_EXISTS(X_STDBY)
+    SET_INPUT_PULLDOWN(X_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(X2_STDBY)
+    SET_INPUT_PULLDOWN(X2_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(Y_STDBY)
+    SET_INPUT_PULLDOWN(Y_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(Y2_STDBY)
+    SET_INPUT_PULLDOWN(Y2_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(Z_STDBY)
+    SET_INPUT_PULLDOWN(Z_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(Z2_STDBY)
+    SET_INPUT_PULLDOWN(Z2_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(Z3_STDBY)
+    SET_INPUT_PULLDOWN(Z3_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(Z4_STDBY)
+    SET_INPUT_PULLDOWN(Z4_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(E0_STDBY)
+    SET_INPUT_PULLDOWN(E0_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(E1_STDBY)
+    SET_INPUT_PULLDOWN(E1_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(E2_STDBY)
+    SET_INPUT_PULLDOWN(E2_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(E3_STDBY)
+    SET_INPUT_PULLDOWN(E3_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(E4_STDBY)
+    SET_INPUT_PULLDOWN(E4_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(E5_STDBY)
+    SET_INPUT_PULLDOWN(E5_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(E6_STDBY)
+    SET_INPUT_PULLDOWN(E6_STDBY_PIN);
+  #endif
+  #if PIN_EXISTS(E7_STDBY)
+    SET_INPUT_PULLDOWN(E7_STDBY_PIN);
+  #endif
+}
+
+/**
+ * Marlin entry-point: Set up before the program loop
+ *  - Set up the kill pin, filament runout, power hold
+ *  - Start the serial port
+ *  - Print startup messages and diagnostics
+ *  - Get EEPROM or default settings
+ *  - Initialize managers for:
+ *    • temperature
+ *    • planner
+ *    • watchdog
+ *    • stepper
+ *    • photo pin
+ *    • servos
+ *    • LCD controller
+ *    • Digipot I2C
+ *    • Z probe sled
+ *    • status LEDs
+ *    • Max7219
+ */
+void setup() {
+
+  tmc_standby_setup();  // TMC Low Power Standby pins must be set early or they're not usable
+
+  #if ENABLED(MARLIN_DEV_MODE)
+    auto log_current_ms = [&](PGM_P const msg) {
+      SERIAL_ECHO_START();
+      SERIAL_CHAR('['); SERIAL_ECHO(millis()); SERIAL_ECHOPGM("] ");
+      serialprintPGM(msg);
+      SERIAL_EOL();
+    };
+    #define SETUP_LOG(M) log_current_ms(PSTR(M))
+  #else
+    #define SETUP_LOG(...) NOOP
+  #endif
+  #define SETUP_RUN(C) do{ SETUP_LOG(STRINGIFY(C)); C; }while(0)
+
+  MYSERIAL0.begin(BAUDRATE);
+  millis_t serial_connect_timeout = millis() + 1000UL;
+  while (!MYSERIAL0.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+
+  #if HAS_MULTI_SERIAL && !HAS_ETHERNET
+    MYSERIAL1.begin(BAUDRATE);
+    serial_connect_timeout = millis() + 1000UL;
+    while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
+  #endif
+  SERIAL_ECHOLNPGM("start");
+
+  // Set up these pins early to prevent suicide
+  #if HAS_KILL
+    SETUP_LOG("KILL_PIN");
+    #if KILL_PIN_STATE
+      SET_INPUT_PULLDOWN(KILL_PIN);
+    #else
+      SET_INPUT_PULLUP(KILL_PIN);
+    #endif
+  #endif
+
+  #if HAS_SUICIDE
+    SETUP_LOG("SUICIDE_PIN");
+    OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING);
+  #endif
+
+  #if ENABLED(PSU_CONTROL)
+    SETUP_LOG("PSU_CONTROL");
+    powersupply_on = ENABLED(PSU_DEFAULT_OFF);
+    if (ENABLED(PSU_DEFAULT_OFF)) PSU_OFF(); else PSU_ON();
+  #endif
+
+  #if EITHER(DISABLE_DEBUG, DISABLE_JTAG)
+    // Disable any hardware debug to free up pins for IO
+    #if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE)
+      JTAGSWD_DISABLE();
+    #elif defined(JTAG_DISABLE)
+      JTAG_DISABLE();
+    #else
+      #error "DISABLE_(DEBUG|JTAG) is not supported for the selected MCU/Board."
+    #endif
+  #endif
+
+
+
+  SETUP_RUN(HAL_init());
+
+  // Init and disable SPI thermocouples
+  #if HEATER_0_USES_MAX6675
+    OUT_WRITE(MAX6675_SS_PIN, HIGH);  // Disable
+  #endif
+  #if HEATER_1_USES_MAX6675
+    OUT_WRITE(MAX6675_SS2_PIN, HIGH); // Disable
+  #endif
+
+  #if HAS_L64XX
+    SETUP_RUN(L64xxManager.init());  // Set up SPI, init drivers
+  #endif
+
+  #if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
+    OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW);   // Put Smart Effector into NORMAL mode
+  #endif
+
+  #if HAS_FILAMENT_SENSOR
+    SETUP_RUN(runout.setup());
+  #endif
+
+  #if ENABLED(POWER_LOSS_RECOVERY)
+    SETUP_RUN(recovery.setup());
+  #endif
+
+  #if HAS_TMC220x
+    SETUP_RUN(tmc_serial_begin());
+  #endif
+
+  #if HAS_STEPPER_RESET
+    SETUP_RUN(disableStepperDrivers());
+  #endif
+
+  #if HAS_TMC_SPI
+    #if DISABLED(TMC_USE_SW_SPI)
+      SETUP_RUN(SPI.begin());
+    #endif
+    SETUP_RUN(tmc_init_cs_pins());
+  #endif
+
+  #ifdef BOARD_INIT
+    SETUP_LOG("BOARD_INIT");
+    BOARD_INIT();
+  #endif
+
+  SETUP_RUN(esp_wifi_init());
+
+  // Check startup - does nothing if bootloader sets MCUSR to 0
+  const byte mcu = HAL_get_reset_source();
+  if (mcu & RST_POWER_ON) SERIAL_ECHOLNPGM(STR_POWERUP);
+  if (mcu & RST_EXTERNAL) SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET);
+  if (mcu & RST_BROWN_OUT) SERIAL_ECHOLNPGM(STR_BROWNOUT_RESET);
+  if (mcu & RST_WATCHDOG) SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET);
+  if (mcu & RST_SOFTWARE) SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET);
+  HAL_clear_reset_source();
+
+  serialprintPGM(GET_TEXT(MSG_MARLIN));
+  SERIAL_CHAR(' ');
+  SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
+  SERIAL_EOL();
+  #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
+    SERIAL_ECHO_MSG(
+      " Last Updated: " STRING_DISTRIBUTION_DATE
+      " | Author: " STRING_CONFIG_H_AUTHOR
+    );
+  #endif
+  SERIAL_ECHO_MSG("Compiled: " __DATE__);
+  SERIAL_ECHO_MSG(STR_FREE_MEMORY, freeMemory(), STR_PLANNER_BUFFER_BYTES, (int)sizeof(block_t) * (BLOCK_BUFFER_SIZE));
+
+  // Init buzzer pin(s)
+  #if USE_BEEPER
+    SETUP_RUN(buzzer.init());
+  #endif
+
+  // Set up LEDs early
+  #if HAS_COLOR_LEDS
+    SETUP_RUN(leds.setup());
+  #endif
+
+  #if ENABLED(NEOPIXEL2_SEPARATE)
+    SETUP_RUN(leds2.setup());
+  #endif
+
+  #if ENABLED(USE_CONTROLLER_FAN)     // Set up fan controller to initialize also the default configurations.
+    SETUP_RUN(controllerFan.setup());
+  #endif
+
+  // UI must be initialized before EEPROM
+  // (because EEPROM code calls the UI).
+
+  #if ENABLED(DWIN_CREALITY_LCD)
+    delay(800);   // Required delay (since boot?)
+    SERIAL_ECHOPGM("\nDWIN handshake ");
+    if (DWIN_Handshake()) SERIAL_ECHOLNPGM("ok."); else SERIAL_ECHOLNPGM("error.");
+    DWIN_Frame_SetDir(1); // Orientation 90°
+    DWIN_UpdateLCD();     // Show bootscreen (first image)
+  #else
+    SETUP_RUN(ui.init());
+    #if HAS_WIRED_LCD && ENABLED(SHOW_BOOTSCREEN)
+      SETUP_RUN(ui.show_bootscreen());
+    #endif
+    SETUP_RUN(ui.reset_status());     // Load welcome message early. (Retained if no errors exist.)
+  #endif
+
+  #if ENABLED(PROBE_TARE)
+    SETUP_RUN(probe.tare_init());
+  #endif
+
+  #if BOTH(SDSUPPORT, SDCARD_EEPROM_EMULATION)
+    SETUP_RUN(card.mount());          // Mount media with settings before first_load
+  #endif
+
+  SETUP_RUN(settings.first_load());   // Load data from EEPROM if available (or use defaults)
+                                      // This also updates variables in the planner, elsewhere
+
+  #if HAS_ETHERNET
+    SETUP_RUN(ethernet.init());
+  #endif
+
+  #if HAS_TOUCH_BUTTONS
+    SETUP_RUN(touch.init());
+  #endif
+
+  TERN_(HAS_M206_COMMAND, current_position += home_offset); // Init current position based on home_offset
+
+  sync_plan_position();               // Vital to init stepper/planner equivalent for current_position
+
+  SETUP_RUN(thermalManager.init());   // Initialize temperature loop
+
+  SETUP_RUN(print_job_timer.init());  // Initial setup of print job timer
+
+  SETUP_RUN(endstops.init());         // Init endstops and pullups
+
+  SETUP_RUN(stepper.init());          // Init stepper. This enables interrupts!
+
+  #if HAS_SERVOS
+    SETUP_RUN(servo_init());
+  #endif
+
+  #if HAS_Z_SERVO_PROBE
+    SETUP_RUN(probe.servo_probe_init());
+  #endif
+
+  #if HAS_PHOTOGRAPH
+    OUT_WRITE(PHOTOGRAPH_PIN, LOW);
+  #endif
+
+  #if HAS_CUTTER
+    SETUP_RUN(cutter.init());
+  #endif
+
+  #if ENABLED(COOLANT_MIST)
+    OUT_WRITE(COOLANT_MIST_PIN, COOLANT_MIST_INVERT);   // Init Mist Coolant OFF
+  #endif
+  #if ENABLED(COOLANT_FLOOD)
+    OUT_WRITE(COOLANT_FLOOD_PIN, COOLANT_FLOOD_INVERT); // Init Flood Coolant OFF
+  #endif
+
+  #if HAS_BED_PROBE
+    SETUP_RUN(endstops.enable_z_probe(false));
+  #endif
+
+  #if HAS_STEPPER_RESET
+    SETUP_RUN(enableStepperDrivers());
+  #endif
+
+  #if HAS_MOTOR_CURRENT_I2C
+    SETUP_RUN(digipot_i2c.init());
+  #endif
+
+  #if ENABLED(HAS_MOTOR_CURRENT_DAC)
+    SETUP_RUN(stepper_dac.init());
+  #endif
+
+  #if EITHER(Z_PROBE_SLED, SOLENOID_PROBE) && HAS_SOLENOID_1
+    OUT_WRITE(SOL1_PIN, LOW); // OFF
+  #endif
+
+  #if HAS_HOME
+    SET_INPUT_PULLUP(HOME_PIN);
+  #endif
+
+  #if PIN_EXISTS(STAT_LED_RED)
+    OUT_WRITE(STAT_LED_RED_PIN, LOW); // OFF
+  #endif
+
+  #if PIN_EXISTS(STAT_LED_BLUE)
+    OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // OFF
+  #endif
+
+  #if ENABLED(CASE_LIGHT_ENABLE)
+    #if DISABLED(CASE_LIGHT_USE_NEOPIXEL)
+      if (PWM_PIN(CASE_LIGHT_PIN)) SET_PWM(CASE_LIGHT_PIN); else SET_OUTPUT(CASE_LIGHT_PIN);
+    #endif
+    SETUP_RUN(caselight.update_brightness());
+  #endif
+
+  #if HAS_PRUSA_MMU1
+    SETUP_LOG("Prusa MMU1");
+    SET_OUTPUT(E_MUX0_PIN);
+    SET_OUTPUT(E_MUX1_PIN);
+    SET_OUTPUT(E_MUX2_PIN);
+  #endif
+
+  #if HAS_FANMUX
+    SETUP_RUN(fanmux_init());
+  #endif
+
+  #if ENABLED(MIXING_EXTRUDER)
+    SETUP_RUN(mixer.init());
+  #endif
+
+  #if ENABLED(BLTOUCH)
+    SETUP_RUN(bltouch.init(/*set_voltage=*/true));
+  #endif
+
+  #if ENABLED(I2C_POSITION_ENCODERS)
+    SETUP_RUN(I2CPEM.init());
+  #endif
+
+  #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
+    SETUP_LOG("i2c...");
+    i2c.onReceive(i2c_on_receive);
+    i2c.onRequest(i2c_on_request);
+  #endif
+
+  #if DO_SWITCH_EXTRUDER
+    SETUP_RUN(move_extruder_servo(0));  // Initialize extruder servo
+  #endif
+
+  #if ENABLED(SWITCHING_NOZZLE)
+    SETUP_LOG("SWITCHING_NOZZLE");
+    // Initialize nozzle servo(s)
+    #if SWITCHING_NOZZLE_TWO_SERVOS
+      lower_nozzle(0);
+      raise_nozzle(1);
+    #else
+      move_nozzle_servo(0);
+    #endif
+  #endif
+
+  #if ENABLED(MAGNETIC_PARKING_EXTRUDER)
+    SETUP_RUN(mpe_settings_init());
+  #endif
+
+  #if ENABLED(PARKING_EXTRUDER)
+    SETUP_RUN(pe_solenoid_init());
+  #endif
+
+  #if ENABLED(SWITCHING_TOOLHEAD)
+    SETUP_RUN(swt_init());
+  #endif
+
+  #if ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD)
+    SETUP_RUN(est_init());
+  #endif
+
+  #if ENABLED(USE_WATCHDOG)
+    SETUP_RUN(watchdog_init());       // Reinit watchdog after HAL_get_reset_source call
+  #endif
+
+  #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
+    SETUP_RUN(closedloop.init());
+  #endif
+
+  #ifdef STARTUP_COMMANDS
+    SETUP_LOG("STARTUP_COMMANDS");
+    queue.inject_P(PSTR(STARTUP_COMMANDS));
+  #endif
+
+  #if ENABLED(HOST_PROMPT_SUPPORT)
+    SETUP_RUN(host_action_prompt_end());
+  #endif
+
+  #if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF)
+    SETUP_RUN(test_tmc_connection(true, true, true, true));
+  #endif
+
+  #if HAS_PRUSA_MMU2
+    SETUP_RUN(mmu2.init());
+  #endif
+
+  #if ENABLED(IIC_BL24CXX_EEPROM)
+    BL24CXX::init();
+    const uint8_t err = BL24CXX::check();
+    SERIAL_ECHO_TERNARY(err, "BL24CXX Check ", "failed", "succeeded", "!\n");
+  #endif
+
+  #if ENABLED(DWIN_CREALITY_LCD)
+    Encoder_Configuration();
+    HMI_Init();
+    HMI_StartFrame(true);
+  #endif
+
+  #if HAS_SERVICE_INTERVALS && DISABLED(DWIN_CREALITY_LCD)
+    ui.reset_status(true);  // Show service messages or keep current status
+  #endif
+
+  #if ENABLED(MAX7219_DEBUG)
+    SETUP_RUN(max7219.init());
+  #endif
+
+  #if ENABLED(DIRECT_STEPPING)
+    SETUP_RUN(page_manager.init());
+  #endif
+
+  #if HAS_TFT_LVGL_UI
+    #if ENABLED(SDSUPPORT)
+      if (!card.isMounted()) SETUP_RUN(card.mount()); // Mount SD to load graphics and fonts
+    #endif
+    SETUP_RUN(tft_lvgl_init());
+  #endif
+
+  #if ENABLED(PASSWORD_ON_STARTUP)
+    SETUP_RUN(password.lock_machine());      // Will not proceed until correct password provided
+  #endif
+
+  #if BOTH(HAS_LCD_MENU, TOUCH_SCREEN_CALIBRATION) && EITHER(TFT_CLASSIC_UI, TFT_COLOR_UI)
+    ui.check_touch_calibration();
+  #endif
+
+  marlin_state = MF_RUNNING;
+
+  SETUP_LOG("setup() completed.");
+}
+
+/**
+ * The main Marlin program loop
+ *
+ *  - Call idle() to handle all tasks between G-code commands
+ *      Note that no G-codes from the queue can be executed during idle()
+ *      but many G-codes can be called directly anytime like macros.
+ *  - Check whether SD card auto-start is needed now.
+ *  - Check whether SD print finishing is needed now.
+ *  - Run one G-code command from the immediate or main command queue
+ *    and open up one space. Commands in the main queue may come from sd
+ *    card, host, or by direct injection. The queue will continue to fill
+ *    as long as idle() or manage_inactivity() are being called.
+ */
+void loop() {
+  do {
+    idle();
+
+    #if ENABLED(SDSUPPORT)
+      if (card.flag.abort_sd_printing) abortSDPrinting();
+      if (marlin_state == MF_SD_COMPLETE) finishSDPrinting();
+    #endif
+
+    queue.advance();
+
+    endstops.event_handler();
+
+    TERN_(HAS_TFT_LVGL_UI, printer_state_polling());
+
+  } while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards
+}
-- 
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