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Prevent watchdog timeout in bezier moves

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Scott Lahteine 2016-05-14 17:41:16 -07:00
parent ddac17a195
commit a058226799
1 changed files with 12 additions and 0 deletions
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12
Marlin/planner_bezier.cpp
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@ -33,6 +33,7 @@
#include "planner.h" #include "planner.h"
#include "language.h" #include "language.h"
#include "temperature.h"
// See the meaning in the documentation of cubic_b_spline(). // See the meaning in the documentation of cubic_b_spline().
#define MIN_STEP 0.002 #define MIN_STEP 0.002
@ -116,7 +117,18 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
tmp[X_AXIS] = position[X_AXIS]; tmp[X_AXIS] = position[X_AXIS];
tmp[Y_AXIS] = position[Y_AXIS]; tmp[Y_AXIS] = position[Y_AXIS];
float step = MAX_STEP; float step = MAX_STEP;
uint8_t idle_counter = 0;
millis_t next_ping_ms = millis() + 200UL;
while (t < 1.0) { while (t < 1.0) {
millis_t now = millis();
if (ELAPSED(now, next_ping_ms)) {
next_ping_ms = now + 200UL;
(idle_counter++ & 0x03) ? thermalManager.manage_heater() : idle();
}
// First try to reduce the step in order to make it sufficiently // First try to reduce the step in order to make it sufficiently
// close to a linear interpolation. // close to a linear interpolation.
bool did_reduce = false; bool did_reduce = false;