Speed up startup and the main loop. #2
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Cleanup timer interrupts code, use ADC noise reduction, get rid of integration logic, a bit of formatting.
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On glass bed on Anet A8 instead of 0.02 mm spread and 0.004 standard deviation, I'm getting 0.005 mm spread and 0.002 mm standard deviation. Start up speed is instant by removing digital/analog auto-detection logic.