Finishing transition to all-hardware timers for fwd-plan/exec, and direct call of load

g2core/stepper.cpp

@@ -76,7 +76,6 @@ extern OutputPin<kDebug3_PinNumber> debug_pin3;
 //extern OutputPin<kDebug4_PinNumber> debug_pin4;
 
 dda_timer_type dda_timer     {kTimerUpToMatch, FREQUENCY_DDA};      // stepper pulse generation
-//load_timer_type load_timer;         // triggers load of next stepper segment
 exec_timer_type exec_timer;         // triggers calculation of next+1 stepper segment
 fwd_plan_timer_type fwd_plan_timer; // triggers planning of next block
 
@@ -125,9 +124,6 @@ void stepper_init()
     // If you need more pulse width you need to drop the DDA clock rate
     dda_timer.setInterrupts(kInterruptOnOverflow | kInterruptPriorityHighest);
 
-    // setup software interrupt load timer
-//    load_timer.setInterrupts(kInterruptOnSoftwareTrigger | kInterruptPriorityHigh);
-
     // setup software interrupt exec timer & initial condition
     exec_timer.setInterrupts(kInterruptOnSoftwareTrigger | kInterruptPriorityMedium);
     st_pre.buffer_state = PREP_BUFFER_OWNED_BY_EXEC;
@@ -417,22 +413,10 @@ void st_request_load_move()
     stepper_debug("l");
     if (st_pre.buffer_state == PREP_BUFFER_OWNED_BY_LOADER) {       // bother interrupting
         stepper_debug("_");
-//        load_timer.setInterruptPending();
         _load_move();
     }
 }
 
-//namespace Motate {    // Define timer inside Motate namespace
-//    template<>
-//    void load_timer_type::interrupt()
-//    {
-//        load_timer.getInterruptCause();                             // read SR to clear interrupt condition
-//        stepper_debug("L>");
-//        _load_move();
-//        stepper_debug("L+\n");
-//    }
-//} // namespace Motate
-
 /****************************************************************************************
  * _load_move() - Dequeue move and load into stepper runtime structure
  *