potential race fixes
synchronize acceleration timer with start of block
reimplement the acceleration timer sync for start of deceleration
comments
make sure acceleration tick does not intterupt if already triggered on start of block
remove debug step pins
Merge pull request #551 from wolfmanjm/use-pendsv-handler-for-ticker

Use pendsv handler for ticker, Overhaul, simplify, refactor ticker and associated code
update firmware.bin
Merge remote-tracking branch 'upstream/edge' into fix/abort