Move setup() and loop() to the end

Marlin/Marlin_main.cpp

@@ -850,10 +850,6 @@ void servo_init() {
      */
     STOW_Z_SERVO();
   #endif
-
-  #if HAS_BED_PROBE
-    endstops.enable_z_probe(false);
-  #endif
 }
 
 /**
@@ -879,216 +875,6 @@ void servo_init() {
 
 #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
- */
-void setup() {
-
-  #ifdef DISABLE_JTAG
-    // Disable JTAG on AT90USB chips to free up pins for IO
-    MCUCR = 0x80;
-    MCUCR = 0x80;
-  #endif
-
-  #if ENABLED(FILAMENT_RUNOUT_SENSOR)
-    setup_filrunoutpin();
-  #endif
-
-  setup_killpin();
-
-  setup_powerhold();
-
-  #if HAS_STEPPER_RESET
-    disableStepperDrivers();
-  #endif
-
-  MYSERIAL.begin(BAUDRATE);
-  SERIAL_PROTOCOLLNPGM("start");
-  SERIAL_ECHO_START;
-
-  // Check startup - does nothing if bootloader sets MCUSR to 0
-  byte mcu = MCUSR;
-  if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
-  if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
-  if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
-  if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
-  if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
-  MCUSR = 0;
-
-  SERIAL_ECHOPGM(MSG_MARLIN);
-  SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
-
-  #ifdef STRING_DISTRIBUTION_DATE
-    #ifdef STRING_CONFIG_H_AUTHOR
-      SERIAL_ECHO_START;
-      SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
-      SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
-      SERIAL_ECHOPGM(MSG_AUTHOR);
-      SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
-      SERIAL_ECHOPGM("Compiled: ");
-      SERIAL_ECHOLNPGM(__DATE__);
-    #endif // STRING_CONFIG_H_AUTHOR
-  #endif // STRING_DISTRIBUTION_DATE
-
-  SERIAL_ECHO_START;
-  SERIAL_ECHOPGM(MSG_FREE_MEMORY);
-  SERIAL_ECHO(freeMemory());
-  SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
-  SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
-
-  // Send "ok" after commands by default
-  for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
-
-  // Load data from EEPROM if available (or use defaults)
-  // This also updates variables in the planner, elsewhere
-  Config_RetrieveSettings();
-
-  // Initialize current position based on home_offset
-  memcpy(current_position, home_offset, sizeof(home_offset));
-
-  // Vital to init stepper/planner equivalent for current_position
-  SYNC_PLAN_POSITION_KINEMATIC();
-
-  thermalManager.init();    // Initialize temperature loop
-
-  #if ENABLED(USE_WATCHDOG)
-    watchdog_init();
-  #endif
-
-  stepper.init();    // Initialize stepper, this enables interrupts!
-  setup_photpin();
-  servo_init();
-
-  #if HAS_CONTROLLERFAN
-    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
-  #endif
-
-  #if HAS_STEPPER_RESET
-    enableStepperDrivers();
-  #endif
-
-  #if ENABLED(DIGIPOT_I2C)
-    digipot_i2c_init();
-  #endif
-
-  #if ENABLED(DAC_STEPPER_CURRENT)
-    dac_init();
-  #endif
-
-  #if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
-    pinMode(SLED_PIN, OUTPUT);
-    digitalWrite(SLED_PIN, LOW); // turn it off
-  #endif // Z_PROBE_SLED
-
-  setup_homepin();
-
-  #ifdef STAT_LED_RED
-    pinMode(STAT_LED_RED, OUTPUT);
-    digitalWrite(STAT_LED_RED, LOW); // turn it off
-  #endif
-
-  #ifdef STAT_LED_BLUE
-    pinMode(STAT_LED_BLUE, OUTPUT);
-    digitalWrite(STAT_LED_BLUE, LOW); // turn it off
-  #endif
-
-  lcd_init();
-  #if ENABLED(SHOW_BOOTSCREEN)
-    #if ENABLED(DOGLCD)
-      safe_delay(BOOTSCREEN_TIMEOUT);
-    #elif ENABLED(ULTRA_LCD)
-      bootscreen();
-      lcd_init();
-    #endif
-  #endif
-
-  #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
-    // Initialize mixing to 100% color 1
-    for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
-      mixing_factor[i] = (i == 0) ? 1 : 0;
-    for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
-      for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
-        mixing_virtual_tool_mix[t][i] = mixing_factor[i];
-  #endif
-
-  #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
-    i2c.onReceive(i2c_on_receive);
-    i2c.onRequest(i2c_on_request);
-  #endif
-}
-
-/**
- * The main Marlin program loop
- *
- *  - Save or log commands to SD
- *  - Process available commands (if not saving)
- *  - Call heater manager
- *  - Call inactivity manager
- *  - Call endstop manager
- *  - Call LCD update
- */
-void loop() {
-  if (commands_in_queue < BUFSIZE) get_available_commands();
-
-  #if ENABLED(SDSUPPORT)
-    card.checkautostart(false);
-  #endif
-
-  if (commands_in_queue) {
-
-    #if ENABLED(SDSUPPORT)
-
-      if (card.saving) {
-        char* command = command_queue[cmd_queue_index_r];
-        if (strstr_P(command, PSTR("M29"))) {
-          // M29 closes the file
-          card.closefile();
-          SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
-          ok_to_send();
-        }
-        else {
-          // Write the string from the read buffer to SD
-          card.write_command(command);
-          if (card.logging)
-            process_next_command(); // The card is saving because it's logging
-          else
-            ok_to_send();
-        }
-      }
-      else
-        process_next_command();
-
-    #else
-
-      process_next_command();
-
-    #endif // SDSUPPORT
-
-    // The queue may be reset by a command handler or by code invoked by idle() within a handler
-    if (commands_in_queue) {
-      --commands_in_queue;
-      cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
-    }
-  }
-  endstops.report_state();
-  idle();
-}
-
 void gcode_line_error(const char* err, bool doFlush = true) {
   SERIAL_ERROR_START;
   serialprintPGM(err);
@@ -8889,3 +8675,217 @@ void calculate_volumetric_multipliers() {
   for (uint8_t i = 0; i < COUNT(filament_size); i++)
     volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
 }
+
+/**
+ * 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
+ */
+void setup() {
+
+  #ifdef DISABLE_JTAG
+    // Disable JTAG on AT90USB chips to free up pins for IO
+    MCUCR = 0x80;
+    MCUCR = 0x80;
+  #endif
+
+  #if ENABLED(FILAMENT_RUNOUT_SENSOR)
+    setup_filrunoutpin();
+  #endif
+
+  setup_killpin();
+
+  setup_powerhold();
+
+  #if HAS_STEPPER_RESET
+    disableStepperDrivers();
+  #endif
+
+  MYSERIAL.begin(BAUDRATE);
+  SERIAL_PROTOCOLLNPGM("start");
+  SERIAL_ECHO_START;
+
+  // Check startup - does nothing if bootloader sets MCUSR to 0
+  byte mcu = MCUSR;
+  if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
+  if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
+  if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
+  if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
+  if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
+  MCUSR = 0;
+
+  SERIAL_ECHOPGM(MSG_MARLIN);
+  SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
+
+  #ifdef STRING_DISTRIBUTION_DATE
+    #ifdef STRING_CONFIG_H_AUTHOR
+      SERIAL_ECHO_START;
+      SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
+      SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
+      SERIAL_ECHOPGM(MSG_AUTHOR);
+      SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
+      SERIAL_ECHOPGM("Compiled: ");
+      SERIAL_ECHOLNPGM(__DATE__);
+    #endif // STRING_CONFIG_H_AUTHOR
+  #endif // STRING_DISTRIBUTION_DATE
+
+  SERIAL_ECHO_START;
+  SERIAL_ECHOPGM(MSG_FREE_MEMORY);
+  SERIAL_ECHO(freeMemory());
+  SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
+  SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
+
+  // Send "ok" after commands by default
+  for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
+
+  // Load data from EEPROM if available (or use defaults)
+  // This also updates variables in the planner, elsewhere
+  Config_RetrieveSettings();
+
+  // Initialize current position based on home_offset
+  memcpy(current_position, home_offset, sizeof(home_offset));
+
+  // Vital to init stepper/planner equivalent for current_position
+  SYNC_PLAN_POSITION_KINEMATIC();
+
+  thermalManager.init();    // Initialize temperature loop
+
+  #if ENABLED(USE_WATCHDOG)
+    watchdog_init();
+  #endif
+
+  stepper.init();    // Initialize stepper, this enables interrupts!
+  setup_photpin();
+  servo_init();
+
+  #if HAS_BED_PROBE
+    endstops.enable_z_probe(false);
+  #endif
+
+  #if HAS_CONTROLLERFAN
+    SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
+  #endif
+
+  #if HAS_STEPPER_RESET
+    enableStepperDrivers();
+  #endif
+
+  #if ENABLED(DIGIPOT_I2C)
+    digipot_i2c_init();
+  #endif
+
+  #if ENABLED(DAC_STEPPER_CURRENT)
+    dac_init();
+  #endif
+
+  #if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
+    pinMode(SLED_PIN, OUTPUT);
+    digitalWrite(SLED_PIN, LOW); // turn it off
+  #endif // Z_PROBE_SLED
+
+  setup_homepin();
+
+  #ifdef STAT_LED_RED
+    pinMode(STAT_LED_RED, OUTPUT);
+    digitalWrite(STAT_LED_RED, LOW); // turn it off
+  #endif
+
+  #ifdef STAT_LED_BLUE
+    pinMode(STAT_LED_BLUE, OUTPUT);
+    digitalWrite(STAT_LED_BLUE, LOW); // turn it off
+  #endif
+
+  lcd_init();
+  #if ENABLED(SHOW_BOOTSCREEN)
+    #if ENABLED(DOGLCD)
+      safe_delay(BOOTSCREEN_TIMEOUT);
+    #elif ENABLED(ULTRA_LCD)
+      bootscreen();
+      lcd_init();
+    #endif
+  #endif
+
+  #if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
+    // Initialize mixing to 100% color 1
+    for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
+      mixing_factor[i] = (i == 0) ? 1 : 0;
+    for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
+      for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
+        mixing_virtual_tool_mix[t][i] = mixing_factor[i];
+  #endif
+
+  #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
+    i2c.onReceive(i2c_on_receive);
+    i2c.onRequest(i2c_on_request);
+  #endif
+}
+
+/**
+ * The main Marlin program loop
+ *
+ *  - Save or log commands to SD
+ *  - Process available commands (if not saving)
+ *  - Call heater manager
+ *  - Call inactivity manager
+ *  - Call endstop manager
+ *  - Call LCD update
+ */
+void loop() {
+  if (commands_in_queue < BUFSIZE) get_available_commands();
+
+  #if ENABLED(SDSUPPORT)
+    card.checkautostart(false);
+  #endif
+
+  if (commands_in_queue) {
+
+    #if ENABLED(SDSUPPORT)
+
+      if (card.saving) {
+        char* command = command_queue[cmd_queue_index_r];
+        if (strstr_P(command, PSTR("M29"))) {
+          // M29 closes the file
+          card.closefile();
+          SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
+          ok_to_send();
+        }
+        else {
+          // Write the string from the read buffer to SD
+          card.write_command(command);
+          if (card.logging)
+            process_next_command(); // The card is saving because it's logging
+          else
+            ok_to_send();
+        }
+      }
+      else
+        process_next_command();
+
+    #else
+
+      process_next_command();
+
+    #endif // SDSUPPORT
+
+    // The queue may be reset by a command handler or by code invoked by idle() within a handler
+    if (commands_in_queue) {
+      --commands_in_queue;
+      cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
+    }
+  }
+  endstops.report_state();
+  idle();
+}