Refactor StepTimer and step interrupts

SoftTimer class renamed StepTimer. We now use instances of StepTimer to schedule step interrupts. This means we only need a single compare match interrupt from the step timer TC. In turn this allows us to chain two 16-bit  timers together on the SAM4S and SAME70 so we no longer need to keep the upper 16 bits in software or use the overflow interrupt.

1 files changed, 6 insertions, 5 deletions

diff --git a/src/Endstops/LocalZProbe.cpp b/src/Endstops/LocalZProbe.cpp
index 7af2c88d..852c4b88 100644
--- a/src/Endstops/LocalZProbe.cpp
+++ b/src/Endstops/LocalZProbe.cpp
@@ -126,9 +126,9 @@ GCodeResult LocalZProbe::AppendPinNames(const StringRef& str) const
 	return GCodeResult::ok;
 }
 
-// programming functions
+// Z probe programming functions
 
-/*static*/ bool LocalZProbe::TimerInterrupt(CallbackParameter param, uint32_t& when)
+/*static*/ bool LocalZProbe::TimerInterrupt(CallbackParameter param, StepTimer::Ticks& when)
 {
 	return static_cast<LocalZProbe*>(param.vp)->Interrupt(when);
 }
@@ -145,11 +145,12 @@ GCodeResult LocalZProbe::SendProgram(const uint32_t zProbeProgram[], size_t len,
 	numBytes = len;
 	bytesSent = 0;
 	bitsSent = 0;
-	bitTime = SoftTimer::GetTickRate()/bitsPerSecond;
+	bitTime = StepTimer::GetTickRate()/bitsPerSecond;
 
 	modulationPort.WriteDigital(false);				// start with 2 bits of zero
-	startTime = SoftTimer::GetTimerTicksNow();
-	timer.ScheduleCallback(startTime + 2 * bitTime, LocalZProbe::TimerInterrupt, static_cast<void*>(this));
+	startTime = StepTimer::GetTimerTicks();
+	timer.SetCallback(LocalZProbe::TimerInterrupt, static_cast<void*>(this));
+	timer.ScheduleCallback(startTime + 2 * bitTime);
 
 	// TODO wait until all bytes sent or some error occurs, but for now we return immediately
 	return GCodeResult::ok;