Actually don't run ecat-slv_poll()

2024-01-23 15:48:59 +01:00
parent e95a098367
commit ddffbe5f8b
1 changed files with 3 additions and 2 deletions
--- 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)