From ba2f7de9d8e44808ec2b3db6519ad179d6a7a5ff Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 21 Jun 2015 03:39:45 +0300
Subject: [PATCH] Scheduler: spin deadline computation fix

---
 libuavcan/src/node/uc_scheduler.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libuavcan/src/node/uc_scheduler.cpp b/libuavcan/src/node/uc_scheduler.cpp
index 5901fe75c5..529d94ccc6 100644
--- a/libuavcan/src/node/uc_scheduler.cpp
+++ b/libuavcan/src/node/uc_scheduler.cpp
@@ -132,7 +132,7 @@ MonotonicTime Scheduler::computeDispatcherSpinDeadline(MonotonicTime spin_deadli
     const MonotonicTime ts = getMonotonicTime();
     if (earliest > ts)
     {
-        if (ts - earliest > deadline_resolution_)
+        if (earliest - ts > deadline_resolution_)
         {
             return ts + deadline_resolution_;
         }