diff --git a/keywords.txt b/keywords.txt
index 63d9865..bec469e 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -83,6 +83,7 @@ readUnitName	KEYWORD2
 safeMode	KEYWORD2
 saveOnOff	KEYWORD2
 setCursor	KEYWORD2
+setFrameDuration	KEYWORD2
 setFrameRate	KEYWORD2
 setRGBled	KEYWORD2
 setTextBackground	KEYWORD2
diff --git a/src/Arduboy2.cpp b/src/Arduboy2.cpp
index 0c294a6..8497f09 100644
--- a/src/Arduboy2.cpp
+++ b/src/Arduboy2.cpp
@@ -19,13 +19,9 @@ Arduboy2Base::Arduboy2Base()
   currentButtonState = 0;
   previousButtonState = 0;
   // frame management
-  setFrameRate(60);
-  frameCount = -1;
-  nextFrameStart = 0;
+  setFrameDuration(16);
+  frameCount = 0;
   justRendered = false;
-  // init not necessary, will be reset after first use
-  // lastFrameStart
-  // lastFrameDurationMs
 }
 
 // functions called here should be public so users can create their
@@ -185,6 +181,11 @@ void Arduboy2Base::setFrameRate(uint8_t rate)
   eachFrameMillis = 1000 / rate;
 }
 
+void Arduboy2Base::setFrameDuration(uint8_t duration)
+{
+  eachFrameMillis = duration;
+}
+
 bool Arduboy2Base::everyXFrames(uint8_t frames)
 {
   return frameCount % frames == 0;
@@ -192,38 +193,27 @@ bool Arduboy2Base::everyXFrames(uint8_t frames)
 
 bool Arduboy2Base::nextFrame()
 {
-  unsigned long now = millis();
-  bool tooSoonForNextFrame = now < nextFrameStart;
+  uint8_t now = (uint8_t) millis();
+  uint8_t frameDurationMs = now - thisFrameStart;
 
   if (justRendered) {
-    lastFrameDurationMs = now - lastFrameStart;
+    lastFrameDurationMs = frameDurationMs;
     justRendered = false;
     return false;
   }
-  else if (tooSoonForNextFrame) {
-    // if we have MORE than 1ms to spare (hence our comparison with 2),
-    // lets sleep for power savings.  We don't compare against 1 to avoid
-    // potential rounding errors - say we're actually 0.5 ms away, but a 1
-    // is returned if we go to sleep we might sleep a full 1ms and then
-    // we'd be running the frame slighly late.  So the last 1ms we stay
-    // awake for perfect timing.
-
-    // This is likely trading power savings for absolute timing precision
-    // and the power savings might be the better goal. At 60 FPS trusting
-    // chance here might actually achieve a "truer" 60 FPS than the 16ms
-    // frame duration we get due to integer math.
-
-    // We should be woken up by timer0 every 1ms, so it's ok to sleep.
-    if ((uint8_t)(nextFrameStart - now) >= 2)
+  else if (frameDurationMs < eachFrameMillis) {
+    // Only idle if at least a full millisecond remains, since idle() may
+    // sleep the processor until the next millisecond timer interrupt.
+    if (++frameDurationMs < eachFrameMillis) {
       idle();
+    }
 
     return false;
   }
 
   // pre-render
   justRendered = true;
-  lastFrameStart = now;
-  nextFrameStart = now + eachFrameMillis;
+  thisFrameStart = now;
   frameCount++;
 
   return true;
diff --git a/src/Arduboy2.h b/src/Arduboy2.h
index fa9e4e3..a59c6a1 100644
--- a/src/Arduboy2.h
+++ b/src/Arduboy2.h
@@ -660,17 +660,47 @@ class Arduboy2Base : public Arduboy2Core
    *
    * \details
    * Set the frame rate, in frames per second, used by `nextFrame()` to update
-   * frames at a given rate. If this function isn't used, the default rate will
-   * be 60.
+   * frames at a given rate. If this function or `setFrameDuration()`
+   * isn't used, the default rate will be 60 (actually 62.5, see note below).
    *
    * Normally, the frame rate would be set to the desired value once, at the
    * start of the game, but it can be changed at any time to alter the frame
    * update rate.
    *
-   * \see nextFrame()
+   * \note
+   * \parblock
+   * The given rate is internally converted to a frame duration in milliseconds,
+   * rounded down to the nearest integer. Therefore, the actual rate will be
+   * equal to or higher than the rate given.
+
+   * For example, 60 FPS would be 16.67ms per frame. This will be rounded down
+   * to 16ms, giving an actual frame rate of 62.5 FPS.
+   * \endparblock
+   *
+   * \see nextFrame() setFrameDuration()
    */
   void setFrameRate(uint8_t rate);
 
+  /** \brief
+   * Set the frame rate, used by the frame control functions, by giving
+   * the duration of each frame.
+   *
+   * \param duration The desired duration of each frame in milliseconds.
+   *
+   * \details
+   * Set the frame rate by specifying the duration of each frame in
+   * milliseconds. This is used by `nextFrame()` to update frames at a
+   * given rate. If this function or `setFrameRate()` isn't used,
+   * the default will be 16ms per frame.
+   *
+   * Normally, the frame rate would be set to the desired value once, at the
+   * start of the game, but it can be changed at any time to alter the frame
+   * update rate.
+   *
+   * \see nextFrame() setFrameRate()
+   */
+  void setFrameDuration(uint8_t duration);
+
   /** \brief
    * Indicate that it's time to render the next frame.
    *
@@ -694,7 +724,7 @@ class Arduboy2Base : public Arduboy2Core
    * }
    * \endcode
    *
-   * \see setFrameRate() nextFrameDEV()
+   * \see setFrameRate() setFrameDuration() nextFrameDEV()
    */
   bool nextFrame();
 
@@ -1120,8 +1150,7 @@ class Arduboy2Base : public Arduboy2Core
 
   // For frame funcions
   uint8_t eachFrameMillis;
-  unsigned long lastFrameStart;
-  unsigned long nextFrameStart;
+  uint8_t thisFrameStart;
   bool justRendered;
   uint8_t lastFrameDurationMs;
 };