diff options
Diffstat (limited to 'src/Reprap.cpp')
| -rw-r--r-- | src/Reprap.cpp | 32 |
1 files changed, 14 insertions, 18 deletions
diff --git a/src/Reprap.cpp b/src/Reprap.cpp index 76cb970d..d2ac20ca 100644 --- a/src/Reprap.cpp +++ b/src/Reprap.cpp @@ -490,28 +490,24 @@ unsigned int RepRap::GetNumberOfContiguousTools() const void RepRap::Tick() { - if (active) + if (active && !resetting) { - Platform::KickWatchdog(); - if (!resetting) + platform->Tick(); + ++ticksInSpinState; + if (ticksInSpinState >= 20000) // if we stall for 20 seconds, save diagnostic data and reset { - platform->Tick(); - ++ticksInSpinState; - if (ticksInSpinState >= 20000) // if we stall for 20 seconds, save diagnostic data and reset + resetting = true; + for(size_t i = 0; i < HEATERS; i++) { - resetting = true; - for(size_t i = 0; i < HEATERS; i++) - { - platform->SetHeater(i, 0.0); - } - for(size_t i = 0; i < DRIVES; i++) - { - platform->DisableDrive(i); - // We can't set motor currents to 0 here because that requires interrupts to be working, and we are in an ISR - } - - platform->SoftwareReset((uint16_t)SoftwareResetReason::stuckInSpin); + platform->SetHeater(i, 0.0); + } + for(size_t i = 0; i < DRIVES; i++) + { + platform->DisableDrive(i); + // We can't set motor currents to 0 here because that requires interrupts to be working, and we are in an ISR } + + platform->SoftwareReset((uint16_t)SoftwareResetReason::stuckInSpin); } } } |