marlin/Marlin/src/MarlinCore.cpp

/**
 * 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 <http://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"

#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 "lcd/ultralcd.h"
#include "module/motion.h"
#include "module/planner.h"
#include "module/stepper.h"
#include "module/endstops.h"
#include "module/probe.h"
#include "module/temperature.h"
#include "sd/cardreader.h"
#include "module/configuration_store.h"
#include "module/printcounter.h" // PrintCounter or Stopwatch
#include "feature/closedloop.h"

#include "module/stepper/indirection.h"

#include "libs/nozzle.h"

#include "gcode/gcode.h"
#include "gcode/parser.h"
#include "gcode/queue.h"

#if ENABLED(TOUCH_BUTTONS)
  #include "feature/touch/xpt2046.h"
#endif

#if ENABLED(HOST_ACTION_COMMANDS)
  #include "feature/host_actions.h"
#endif

#if USE_BEEPER
  #include "libs/buzzer.h"
#endif

#if HAS_I2C_DIGIPOT
  #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(DAC_STEPPER_CURRENT)
  #include "feature/dac/stepper_dac.h"
#endif

#if ENABLED(EXPERIMENTAL_I2CBUS)
  #include "feature/twibus.h"
  TWIBus i2c;
#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 BOTH(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_NO_STEPPER_TIMEOUT)
  #include "feature/pause.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 ENABLED(TEMP_STAT_LEDS)
  #include "feature/leds/tempstat.h"
#endif

#if HAS_CASE_LIGHT
  #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 ENABLED(PRUSA_MMU2)
  #include "feature/mmu2/mmu2.h"
#endif

#if HAS_L64XX
  #include "libs/L64XX/L64XX_Marlin.h"
#endif

const char NUL_STR[] PROGMEM = "",
           M112_KILL_STR[] PROGMEM = "M112 Shutdown",
           G28_STR[] PROGMEM = "G28",
           M21_STR[] PROGMEM = "M21",
           M23_STR[] PROGMEM = "M23 %s",
           M24_STR[] PROGMEM = "M24",
           SP_P_STR[] PROGMEM = " P",
           SP_T_STR[] PROGMEM = " T",
           SP_X_STR[] PROGMEM = " X",
           SP_Y_STR[] PROGMEM = " Y",
           SP_Z_STR[] PROGMEM = " Z",
           SP_E_STR[] PROGMEM = " E",
              X_LBL[] PROGMEM =  "X:",
              Y_LBL[] PROGMEM =  "Y:",
              Z_LBL[] PROGMEM =  "Z:",
              E_LBL[] PROGMEM =  "E:",
           SP_X_LBL[] PROGMEM = " X:",
           SP_Y_LBL[] PROGMEM = " Y:",
           SP_Z_LBL[] PROGMEM = " Z:",
           SP_E_LBL[] PROGMEM = " E:";

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*/) {
    TERN(ADVANCED_PAUSE_FEATURE,,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

// Inactivity shutdown
millis_t max_inactive_time, // = 0
         stepper_inactive_time = SEC_TO_MS(DEFAULT_STEPPER_DEACTIVE_TIME);

#if PIN_EXISTS(CHDK)
  extern millis_t chdk_timeout;
#endif

#if ENABLED(I2C_POSITION_ENCODERS)
  I2CPositionEncodersMgr I2CPEM;
#endif

/**
 * ***************************************************************************
 * ******************************** FUNCTIONS ********************************
 * ***************************************************************************
 */

void setup_killpin() {
  #if HAS_KILL
    #if KILL_PIN_STATE
      SET_INPUT_PULLDOWN(KILL_PIN);
    #else
      SET_INPUT_PULLUP(KILL_PIN);
    #endif
  #endif
}

void setup_powerhold() {
  #if HAS_SUICIDE
    OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING);
  #endif
  #if ENABLED(PSU_CONTROL)
    powersupply_on = ENABLED(PSU_DEFAULT_OFF);
    if (ENABLED(PSU_DEFAULT_OFF)) PSU_OFF(); else PSU_ON();
  #endif
}

/**
 * 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

#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0

  void i2c_on_receive(int bytes) { // just echo all bytes received to serial
    i2c.receive(bytes);
  }

  void i2c_on_request() {          // just send dummy data for now
    i2c.reply("Hello World!\n");
  }

#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 protected_pin_err() {
  SERIAL_ERROR_MSG(STR_ERR_PROTECTED_PIN);
}

void quickstop_stepper() {
  planner.quick_stop();
  planner.synchronize();
  set_current_from_steppers_for_axis(ALL_AXES);
  sync_plan_position();
}

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();
}

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();
}

#if ENABLED(G29_RETRY_AND_RECOVER)

  void event_probe_failure() {
    #ifdef ACTION_ON_G29_FAILURE
      host_action(PSTR(ACTION_ON_G29_FAILURE));
    #endif
    #ifdef G29_FAILURE_COMMANDS
      gcode.process_subcommands_now_P(PSTR(G29_FAILURE_COMMANDS));
    #endif
    #if ENABLED(G29_HALT_ON_FAILURE)
      #ifdef ACTION_ON_CANCEL
        host_action_cancel();
      #endif
      kill(GET_TEXT(MSG_LCD_PROBING_FAILED));
    #endif
  }

  void event_probe_recover() {
    TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_INFO, PSTR("G29 Retrying"), DISMISS_STR));
    #ifdef ACTION_ON_G29_RECOVER
      host_action(PSTR(ACTION_ON_G29_RECOVER));
    #endif
    #ifdef G29_RECOVER_COMMANDS
      gcode.process_subcommands_now_P(PSTR(G29_RECOVER_COMMANDS));
    #endif
  }

#endif

#if ENABLED(ADVANCED_PAUSE_FEATURE)
  #include "feature/pause.h"
#else
  constexpr bool did_pause_print = false;
#endif

/**
 * 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_(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() {
    card.endFilePrint(TERN_(SD_RESORT, true));
    queue.clear();
    quickstop_stepper();
    print_job_timer.stop();
    #if DISABLED(SD_ABORT_NO_COOLDOWN)
      thermalManager.disable_all_heaters();
    #endif
    #if !HAS_CUTTER
      thermalManager.zero_fan_speeds();
    #else
      cutter.kill();              // Full cutter shutdown including ISR control
    #endif
    wait_for_heatup = false;
    TERN_(POWER_LOSS_RECOVERY, recovery.purge());
    #ifdef EVENT_GCODE_SD_STOP
      queue.inject_P(PSTR(EVENT_GCODE_SD_STOP));
    #endif
  }

  inline void finishSDPrinting() {
    if (queue.enqueue_one_P(PSTR("M1001")))
      marlin_state = MF_RUNNING;
  }

#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();

  if (max_inactive_time && ELAPSED(ms, gcode.previous_move_ms + max_inactive_time)) {
    SERIAL_ERROR_START();
    SERIAL_ECHOLNPAIR(STR_KILL_INACTIVE_TIME, parser.command_ptr);
    kill();
  }

  // Prevent steppers timing-out in the middle of M600
  #define STAY_TEST (BOTH(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_NO_STEPPER_TIMEOUT) && did_pause_print)

  if (stepper_inactive_time) {
    static bool already_shutdown_steppers; // = false
    if (planner.has_blocks_queued())
      gcode.reset_stepper_timeout();
    else if (!STAY_TEST && !ignore_stepper_queue && ELAPSED(ms, gcode.previous_move_ms + stepper_inactive_time)) {
      if (!already_shutdown_steppers) {
        already_shutdown_steppers = true;  // L6470 SPI will consume 99% of free time without this
        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();
        #if BOTH(HAS_LCD_MENU, AUTO_BED_LEVELING_UBL)
          if (ubl.lcd_map_control) {
            ubl.lcd_map_control = false;
            ui.defer_status_screen(false);
          }
        #endif
      }
    }
    else
      already_shutdown_steppers = false;
  }

  #if PIN_EXISTS(CHDK) // Check if pin should be set to LOW (after M240 set it HIGH)
    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.enqueue_now_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());

  #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();
    }
  #endif // EXTRUDER_RUNOUT_PREVENT

  #if ENABLED(DUAL_X_CARRIAGE)
    // handle delayed move timeout
    if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && 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();
    }
  #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 Prusa MMU2
 *  - Handle Joystick jogging
 */
void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) {

  // 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) return;

  // Handle filament runout sensors
  TERN_(HAS_FILAMENT_SENSOR, runout.run());

  // Run HAL idle tasks
  #ifdef HAL_IDLETASK
    HAL_idletask();
  #endif

  // Handle Power-Loss Recovery
  #if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS)
    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());

  // Read Buttons and Update the LCD
  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_report_temperatures());
      TERN_(AUTO_REPORT_SD_STATUS, card.auto_report_sd_status());
    }
  #endif

  // Update the Prusa MMU2
  TERN_(PRUSA_MMU2, mmu2.mmu_loop());

  // Handle Joystick jogging
  TERN_(POLL_JOG, joystick.inject_jog_moves());
}

/**
 * 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

  #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;
  }
}

/**
 * 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() {

  #if ENABLED(MARLIN_DEV_MODE)
    auto log_current_ms = [&](PGM_P const msg) {
      SERIAL_ECHO_START();
      SERIAL_CHAR('['); SERIAL_ECHO(millis()); SERIAL_ECHO("] ");
      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)

  #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

  #if NUM_SERIAL > 0
    MYSERIAL0.begin(BAUDRATE);
    uint32_t serial_connect_timeout = millis() + 1000UL;
    while (!MYSERIAL0 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
    #if NUM_SERIAL > 1
      MYSERIAL1.begin(BAUDRATE);
      serial_connect_timeout = millis() + 1000UL;
      while (!MYSERIAL1 && PENDING(millis(), serial_connect_timeout)) { /*nada*/ }
    #endif
    SERIAL_ECHO_MSG("start");
  #endif

  SETUP_RUN(HAL_init());

  #if HAS_L64XX
    SETUP_RUN(L64xxManager.init());  // Set up SPI, init drivers
  #endif

  #if ENABLED(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

  SETUP_RUN(setup_killpin());

  #if HAS_TMC220x
    SETUP_RUN(tmc_serial_begin());
  #endif

  SETUP_RUN(setup_powerhold());

  #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 &  1) SERIAL_ECHOLNPGM(STR_POWERUP);
  if (mcu &  2) SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET);
  if (mcu &  4) SERIAL_ECHOLNPGM(STR_BROWNOUT_RESET);
  if (mcu &  8) SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET);
  if (mcu & 32) 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(
      STR_CONFIGURATION_VER
      STRING_DISTRIBUTION_DATE
      STR_AUTHOR STRING_CONFIG_H_AUTHOR
    );
    SERIAL_ECHO_MSG("Compiled: " __DATE__);
  #endif

  SERIAL_ECHO_START();
  SERIAL_ECHOLNPAIR(STR_FREE_MEMORY, freeMemory(), STR_PLANNER_BUFFER_BYTES, (int)sizeof(block_t) * (BLOCK_BUFFER_SIZE));

  // Set up LEDs early
  #if HAS_COLOR_LEDS
    SETUP_RUN(leds.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).

  SETUP_RUN(ui.init());
  SETUP_RUN(ui.reset_status());       // Load welcome message early. (Retained if no errors exist.)

  #if BOTH(HAS_SPI_LCD, SHOW_BOOTSCREEN)
    SETUP_RUN(ui.show_bootscreen());
  #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_SERVICE_INTERVALS
    SETUP_RUN(ui.reset_status(true)); // Show service messages or keep current status
  #endif

  #if ENABLED(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_I2C_DIGIPOT
    SETUP_RUN(digipot_i2c_init());
  #endif

  #if ENABLED(DAC_STEPPER_CURRENT)
    SETUP_RUN(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 HAS_CASE_LIGHT
    #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(update_case_light());
  #endif

  #if ENABLED(MK2_MULTIPLEXER)
    SETUP_LOG("MK2_MULTIPLEXER");
    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(init_closedloop());
  #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 ENABLED(PRUSA_MMU2)
    SETUP_RUN(mmu2.init());
  #endif

  #if ENABLED(MAX7219_DEBUG)
    SETUP_RUN(max7219.init());
  #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)
      card.checkautostart();
      if (card.flag.abort_sd_printing) abortSDPrinting();
      if (marlin_state == MF_SD_COMPLETE) finishSDPrinting();
    #endif

    queue.advance();

    endstops.event_handler();

  } while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards
}