From a2ce509bed2242fceaad9a9fd98f35fcfb16e21e Mon Sep 17 00:00:00 2001
From: Markus Hitter <mah@jump-ing.de>
Date: Tue, 19 Mar 2013 20:41:35 +0100
Subject: [PATCH] Eliminate _delay(), delay() and _delay_us().

Doesn't change much, even the binary size stays the same. Much
cleaner code though, now we have only delay_us() and delay_ms().
---
 dda_queue.c |  2 +-
 delay.c     | 23 +++++++----------------
 delay.h     | 29 -----------------------------
 sd.c        | 10 +++++-----
 4 files changed, 13 insertions(+), 51 deletions(-)

diff --git a/dda_queue.c b/dda_queue.c
index 7674c9f..2b9e646 100644
--- a/dda_queue.c
+++ b/dda_queue.c
@@ -94,7 +94,7 @@ void queue_step() {
 void enqueue_home(TARGET *t, uint8_t endstop_check, uint8_t endstop_stop_cond) {
 	// don't call this function when the queue is full, but just in case, wait for a move to complete and free up the space for the passed target
 	while (queue_full())
-		delay(100);
+		delay_us(100);
 
 	uint8_t h = mb_head + 1;
 	h &= (MOVEBUFFER_SIZE - 1);
diff --git a/delay.c b/delay.c
index 8c24364..713d59f 100644
--- a/delay.c
+++ b/delay.c
@@ -4,26 +4,17 @@
 	\brief Delay routines
 */
 
-//#include <util/delay_basic.h>
+#include	<stdint.h>
+#include	<util/delay_basic.h>
+#include	"watchdog.h"
 
-//#include	"watchdog.h"
-
-
-/// interruptable microsecond delay
-/// does NOT call wd_reset
-/// \param delay time in microseconds
-void delay_us( uint16_t delay )
-{
-	while (delay > (65536UL / (F_CPU / 4000000UL))) {
-		_delay_loop_2(65534); //
-		delay -= (65536L / (F_CPU / 4000000L));
-	}
-	_delay_loop_2( delay * (F_CPU / 4000000UL));
-}
+#if F_CPU < 4000000UL
+#error Delay functions only work with F_CPU >= 4000000UL 
+#endif
 
 /// delay microseconds
 /// \param delay time to wait in microseconds
-void _delay(uint32_t delay) {
+void delay_us(uint16_t delay) {
 	wd_reset();
 	while (delay > (65536L / (F_CPU / 4000000L))) {
 		_delay_loop_2(65534); // we use 65534 here to compensate for the time that the surrounding loop takes. TODO: exact figure needs tuning
diff --git a/delay.h b/delay.h
index 58c5cb1..b044839 100644
--- a/delay.h
+++ b/delay.h
@@ -1,39 +1,10 @@
 #ifndef	_DELAY_H
 #define	_DELAY_H
 
-#include	<stdint.h>
-#include	<util/delay_basic.h>
-#include	"watchdog.h"
-
-#if F_CPU < 4000000UL
-#error Delay functions only work with F_CPU >= 4000000UL 
-#endif
-
 // microsecond delay, does NOT reset WDT if feature enabled
 void delay_us(uint16_t delay);
 
-// microsecond delay, does reset WDT if feature enabled
-void _delay(uint32_t delay);
-
 // millisecond delay, does reset WDT if feature enabled
 void delay_ms(uint32_t delay);
 
-
-// microsecond timer, does reset WDT if feature enabled
-// 0 results in no real delay, but the watchdog
-// reset is called if the feature is enabled
-static void delay(uint32_t) __attribute__ ((always_inline));
-inline void delay(uint32_t d) {
-	if (d > (65536L / (F_CPU / 4000000L))) {
-		_delay(d);
-	}
-	else {
-		wd_reset();
-		if( d ) {
-			_delay_loop_2(d * (F_CPU / 4000000L));
-			wd_reset();
-		}
-	}
-}
-
 #endif	/* _DELAY_H */
diff --git a/sd.c b/sd.c
index b4fd92d..ebfefdc 100644
--- a/sd.c
+++ b/sd.c
@@ -120,7 +120,7 @@ byte sdc_initialize(void) {
 		if (retries >= 0xFF) {
 			return(NULL); // timed out!
 		}
-		delay(5);
+		delay_ms(5);
 	}
 	// at this stage, the card is in idle mode and ready for start up
 	retries = 0;
@@ -159,7 +159,7 @@ void sdc_readRegister(byte sentCommand) {
 	byte retries=0x00;
 	byte res=sdc_cmd(sentCommand, 0);
 	while(res != 0x00) {
-		delay(1);
+		delay_ms(1);
 		retries++;
 		if (retries >= 0xFF) return; // timed out!
 		res=spi_cmd(0xFF); // retry
@@ -180,7 +180,7 @@ void sdc_readRegister(byte sentCommand) {
 void sdc_writeBlock(long blockIndex) {
 	byte retries=0;
 	while(sdc_cmd(WRITE_BLOCK, blockIndex * blockSize) != 0x00) {
-		delay(1);
+		delay_ms(1);
 		retries++;
 		if (retries >= 0xFF) return; // timed out!
 	}
@@ -196,7 +196,7 @@ void sdc_writeBlock(long blockIndex) {
 	spi_cmd(0xFF); // LSB
 	spi_cmd(0xFF); // MSB
 	// wait until write is finished
-	while (spi_cmd(0xFF) != 0xFF) delay(1); // kind of NOP
+	while (spi_cmd(0xFF) != 0xFF) delay_ms(1); // kind of NOP
 }
 
 // read block on SD card and copy data in block vector
@@ -205,7 +205,7 @@ void sdc_readBlock(long blockIndex) {
 	byte retries = 0x00;
 	byte res = sdc_cmd(READ_SINGLE_BLOCK,  (blockIndex * blockSize));
 	while(res != 0x00) {
-		delay(1);
+		delay_ms(1);
 		retries++;
 		if (retries >= 0xFF) return; // timed out!
 		res=spi_cmd(0xFF); // retry