         }
     }
 }
-// double tttt = 0;
-// long kkk = 0;
 ISR(SPI_STC_vect)
 {
     char c = SPDR;
-    /*test speed
-    if (tttt == 0)
-    {
-        tttt = micros() / 1000.0;
-    }
-    if (c > 9)
-    {
-        ttt++;
-    }
-    if (ttt >= 1024)
-    {
-        kkk++;
-        float n = (micros() / 1000.0 - tttt) / 1000.0;
-        Serial.print(ttt / n / 1024.0);
-        Serial.print(":");
-        Serial.print(kkk);
-        Serial.print("\n");
-        ttt = 0;
-        tttt = micros() / 1000.0;
-    }*/
     if (c > 0 && c < 0xff)
     {
         if (!_sys.isSpiProcessing)

        break;
    }
    }
    tt = 0;
    // _sys.during = 160000 / (_sys.currentSpeed + 1);
    _sys.currentSpeed = _sys.currentSpeed > 5000 ? 5000 : (_sys.currentSpeed < 5 ? 5 : _sys.currentSpeed);
    long during = min(62500, ((2000000 / _sys.currentSpeed))) - 1;
    OCR1A = during;
    // _sys.during = _sys.during > 100000 ? 100000 : (_sys.during < 1500 ? 1500 : _sys.during);
}
/**
 * Motion Parse

typedef struct
{
    volatile long err;
    volatile long delta[NUM_AXIS];
    volatile long restCount[NUM_AXIS];
    volatile bool dir[NUM_AXIS];
    volatile long accelCount = 0;
    volatile long decelCount = 0;
