From a0582267992db7c9f378ced03ded83291bf6edb4 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sat, 14 May 2016 17:41:16 -0700
Subject: [PATCH] Prevent watchdog timeout in bezier moves
---
Marlin/planner_bezier.cpp | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/Marlin/planner_bezier.cpp b/Marlin/planner_bezier.cpp
index 57b292beaa..5e820c4040 100644
--- a/Marlin/planner_bezier.cpp
+++ b/Marlin/planner_bezier.cpp
@@ -33,6 +33,7 @@
#include "planner.h"
#include "language.h"
+#include "temperature.h"
// See the meaning in the documentation of cubic_b_spline().
#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[Y_AXIS] = position[Y_AXIS];
float step = MAX_STEP;
+
+ uint8_t idle_counter = 0;
+ millis_t next_ping_ms = millis() + 200UL;
+
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
// close to a linear interpolation.
bool did_reduce = false;
--
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