From ddffbe5f8bc3387f889d23a696f210e5414cc598 Mon Sep 17 00:00:00 2001 From: Hakan Bastedt Date: Tue, 23 Jan 2024 15:48:59 +0100 Subject: [PATCH] Actually don't run ecat-slv_poll() --- Firmware/src/main.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/Firmware/src/main.cpp b/Firmware/src/main.cpp index 1134780..6605728 100755 --- a/Firmware/src/main.cpp +++ b/Firmware/src/main.cpp @@ -125,8 +125,9 @@ void loop(void) serveIRQ = 0; ESCvar.PrevTime = ESCvar.Time; } - if (nowTime < 500 || nowTime > 1500) // Don't run ecat_slv_poll when expecting to server interrupt - ecat_slv_poll(); + uint64_t superNow=micros(); + if (superNow - nowTime < 500 || superNow - nowTime > 1500) // Don't run ecat_slv_poll when expecting to server interrupt + ecat_slv_poll(); } void sync0Handler(void)