From ed9af2ec50bbf8876342ac874aec6c8ff52299ca Mon Sep 17 00:00:00 2001
From: Hakan Bastedt <hakan.bastedt@gmail.com>
Date: Tue, 9 Apr 2024 20:24:16 +0200
Subject: [PATCH] Reduce irq delay if it has gotten to large

---
 Firmware/src/main.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Firmware/src/main.cpp b/Firmware/src/main.cpp
index c963375..67fb91a 100755
--- a/Firmware/src/main.cpp
+++ b/Firmware/src/main.cpp
@@ -88,6 +88,8 @@ void handleStepper(void)
    if (irqServeDelays.bufferIsFull()) // Do max calcs, just waiting a second
    {
       uint16_t maxInBuffer = irqServeDelays.getMaxInBuffer();
+      if (maxIrqServeTime > maxInBuffer)  // Reduce by one, slowly eating up excess time
+         maxIrqServeTime--;
       if (maxIrqServeTime < maxInBuffer)
          maxIrqServeTime = maxInBuffer;
    }