diff --git a/firmware/controllers/actuators/idle_thread.cpp b/firmware/controllers/actuators/idle_thread.cpp
index 9556f887f4..05612177c2 100644
--- a/firmware/controllers/actuators/idle_thread.cpp
+++ b/firmware/controllers/actuators/idle_thread.cpp
@@ -677,6 +677,14 @@ bool isIdleHardwareRestartNeeded() {
 
 }
 
+bool isIdleMotorBusy(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
+	if (!CONFIG(useStepperIdle)) {
+		// todo: check other motor types?
+		return false;
+	}
+	return iacMotor.isBusy();
+}
+
 void stopIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
 #if EFI_PROD_CODE
 	brain_pin_markUnused(activeConfiguration.stepperEnablePin);
diff --git a/firmware/controllers/actuators/idle_thread.h b/firmware/controllers/actuators/idle_thread.h
index b8a94fa45f..45626ddab0 100644
--- a/firmware/controllers/actuators/idle_thread.h
+++ b/firmware/controllers/actuators/idle_thread.h
@@ -38,6 +38,7 @@ void setIdleDT(int value);
 void stopIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 void initIdleHardware(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 bool isIdleHardwareRestartNeeded();
+bool isIdleMotorBusy(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 void onConfigurationChangeIdleCallback(engine_configuration_s *previousConfiguration);
 float getIdlePidOffset(DECLARE_ENGINE_PARAMETER_SIGNATURE);
 Pid * getIdlePid(DECLARE_ENGINE_PARAMETER_SIGNATURE);