Merge pull request #8587 from AnHardt/2_Fix_WDTO_during_long_DELTA_moves
[2.0.x] Fix WDTO during long delta moves
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1 changed files with 8 additions and 0 deletions
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@ -594,6 +594,14 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
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// Calculate and execute the segments
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// Calculate and execute the segments
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for (uint16_t s = segments + 1; --s;) {
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for (uint16_t s = segments + 1; --s;) {
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static millis_t next_idle_ms = millis() + 200UL;
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thermalManager.manage_heater(); // This returns immediately if not really needed.
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if (ELAPSED(millis(), next_idle_ms)) {
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next_idle_ms = millis() + 200UL;
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idle();
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}
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LOOP_XYZE(i) raw[i] += segment_distance[i];
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LOOP_XYZE(i) raw[i] += segment_distance[i];
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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DELTA_RAW_IK(); // Delta can inline its kinematics
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DELTA_RAW_IK(); // Delta can inline its kinematics
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