From 6ff5e18c5603878b94a48269b0c6a1a6eccf0010 Mon Sep 17 00:00:00 2001
From: Paul Guenette <pfguenette@gmail.com>
Date: Sun, 10 Jan 2021 15:04:50 -0500
Subject: [PATCH] Update to devel

---
 Firmware/MotorControl/controller.cpp | 3 +--
 Firmware/MotorControl/motor.cpp      | 2 +-
 Firmware/Private                     | 2 +-
 3 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index 5a29fb22..e9565919 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -17,7 +17,7 @@ void Controller::reset() {
 
 void Controller::set_error(Error error) {
     error_ |= error;
-    last_error_time_ = axis_->loop_counter_ * current_meas_period;
+    last_error_time_ = odrv.n_evt_control_loop_ * current_meas_period;
 }
 
 //--------------------------------
@@ -98,7 +98,6 @@ static float limitVel(const float vel_limit, const float vel_estimate, const flo
 }
 
 bool Controller::update() {
-    axis_->loop_counter_++;
     std::optional<float> pos_estimate_linear = pos_estimate_linear_src_.present();
     std::optional<float> pos_estimate_circular = pos_estimate_circular_src_.present();
     std::optional<float> pos_wrap = pos_wrap_src_.present();
diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index 7fe537e7..2f170fd6 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -339,7 +339,7 @@ bool Motor::setup() {
 
 void Motor::disarm_with_error(Motor::Error error){
     error_ |= error;
-    last_error_time_ = axis_->loop_counter_ * current_meas_period;
+    last_error_time_ = odrv.n_evt_control_loop_ * current_meas_period;
     disarm();
 }
 
diff --git a/Firmware/Private b/Firmware/Private
index fa10f266..260d6e71 160000
--- a/Firmware/Private
+++ b/Firmware/Private
@@ -1 +1 @@
-Subproject commit fa10f26681bae9678ba12c9af5c0b3149bcebe30
+Subproject commit 260d6e71fd03647bd4df3a44b05b9a389e0dc408