From c9db6ac451529f376dc4321aa1a24f9aa7b8a6b3 Mon Sep 17 00:00:00 2001
From: Ted Hess <thess@kitschensync.net>
Date: Wed, 15 Nov 2017 09:00:02 -0500
Subject: [PATCH] Code cleanup and force-inline removal testing

---
 Firmware/planner.cpp |  4 +++-
 Firmware/stepper.cpp | 10 ++--------
 2 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/Firmware/planner.cpp b/Firmware/planner.cpp
index 7dd79903a..a1d1f0c97 100644
--- a/Firmware/planner.cpp
+++ b/Firmware/planner.cpp
@@ -153,6 +153,7 @@ static inline int8_t prev_block_index(int8_t block_index) {
 //=============================functions         ============================
 //===========================================================================
 
+#if 0
 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the 
 // given acceleration:
 FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
@@ -181,6 +182,7 @@ FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, f
     return 0.0;  // acceleration was 0, set intersection distance to 0
   }
 }
+#endif
 
 #define MINIMAL_STEP_RATE 120
 
@@ -418,7 +420,7 @@ void plan_init() {
   block_buffer_tail = 0;
   memset(position, 0, sizeof(position)); // clear position
   #ifdef LIN_ADVANCE
-    memset(position_float, 0, sizeof(position)); // clear position
+    memset(position_float, 0, sizeof(position_float)); // clear position
   #endif
   previous_speed[0] = 0.0;
   previous_speed[1] = 0.0;
diff --git a/Firmware/stepper.cpp b/Firmware/stepper.cpp
index 30ce9cc17..ae24b7310 100644
--- a/Firmware/stepper.cpp
+++ b/Firmware/stepper.cpp
@@ -282,13 +282,7 @@ void st_wake_up() {
   ENABLE_STEPPER_DRIVER_INTERRUPT();
 }
 
-void step_wait(){
-    for(int8_t i=0; i < 6; i++){
-    }
-}
-
-
-FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
+unsigned short calc_timer(unsigned short step_rate) {
   unsigned short timer;
   if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
 
@@ -325,7 +319,7 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
 
 // Initializes the trapezoid generator from the current block. Called whenever a new
 // block begins.
-FORCE_INLINE void trapezoid_generator_reset() {
+void trapezoid_generator_reset() {
   deceleration_time = 0;
   // step_rate to timer interval
   OCR1A_nominal = calc_timer(current_block->nominal_rate);