main.c

[6600gt]

in the main.c

while (1) /* This loop will repeat indefinitely. */
{
#ifdef _SIMULATOR
statusflag.NEW_SPI_DATA = 1;
#endif

if (statusflag.NEW_SPI_DATA) /* 26.2ms loop area */
{ /* I'm slow! I only execute every 26.2ms because */
/* that's how fast the Master uP gives me data. */


Process_Data_From_Master_uP(); /* You edit this in user_routines.c */


if (autonomous_mode) /* DO NOT CHANGE! */
{
User_Autonomous_Code(); /* You edit this in user_routines_fast.c */
}


}
Process_Data_From_Local_IO(); /* You edit this in user_routines_fast.c */
/* I'm fast! I execute during every loop.*/
} /* while (1) */

shouldn't it be

if(autonomous_mode)
{
User_Autonomous_Code();
}
else
{
Process_Data_From_Master_uP();
}

otherwise it will be executing Process_Data_From_Master_uP() and then User_Autonomous_Code() in auton, every loop, thus eating up a lot of processor time.