Fix for TR command (always clear accs), fix for high ISR rate (not sure why this changed, but now at 40.0218 ms.

EBB_firmware/app.X/nbproject/project.xml

@@ -35,11 +35,14 @@
             <word>Bitfield</word>
             <word>bootup</word>
             <word>breifly</word>
+            <word>codebase</word>
             <word>comamnds</word>
             <word>Fosc</word>
             <word>init</word>
+            <word>microstep</word>
             <word>paramters</word>
             <word>Prescale</word>
+            <word>refactor</word>
             <word>struct</word>
         </spellchecker-wordlist>
     </configuration>

EBB_firmware/app.X/source/ebb.c

@@ -3113,6 +3113,7 @@ void parse_TR_packet(void)
   gSteps1 = TR_Pos1;
   gSteps2 = TR_Pos2;
   gHM_StepRate = TR_StepRate;
+  gClearAccs = 3;   // Always clear accumulators for testing
 
   process_simple_rate_move();
 }
@@ -3126,9 +3127,10 @@ void parse_TR_packet(void)
 // 0x007FFFFF.
 //
 // This function uses these as input parameters:
-//  gHM_StepRate   (not modified)
-//  gSteps1        (modified)
-//  gSteps2        (modified)
+//  gHM_StepRate    (not modified)
+//  gSteps1         (modified)
+//  gSteps2         (modified)
+//  gClearAccs      (not modified)
 void process_simple_rate_move(void)
 {
   if(bittst(TestMode, TEST_MODE_DEBUG_COMMAND_BIT_NUM))

EBB_firmware/app.X/source/ebb.h

@@ -219,7 +219,7 @@ typedef struct
 // The values here are hand tuned for 25KHz ISR operation
 // 0xFE30 = 25.00 KHz
 
-#define TIMER1_L_RELOAD 0x30
+#define TIMER1_L_RELOAD 0x36
 #define TIMER1_H_RELOAD 0xFE
 
 #define HIGH_ISR_TICKS_PER_MS (25u)  // Note: computed by hand, could be formula