AccelStepper members as protected instead of public

resource references moved over from header to cpp
last step during the transition from high to low (distanceToGo == 0)
computeNewSpeed already called in parent moveTo()
ISR's as friend

AccelStepper.patch

@@ -12,7 +12,7 @@ index 1714788..7674368 100644
  _interface = interface;
  _currentPos = 0;
 diff --git a/AccelStepper.h b/AccelStepper.h
-index cc6b6dc..084aad6 100644
+index cc6b6dc..9fdb983 100644
 --- a/AccelStepper.h
 +++ b/AccelStepper.h
 @@ -287,7 +287,8 @@ public:
@@ -25,9 +25,9 @@ index cc6b6dc..084aad6 100644
 
  /// Alternate Constructor which will call your own functions for forward and backward steps. 
  /// You can have multiple simultaneous steppers, all moving
-@@ -435,6 +436,29 @@ public:
-  /// \param[in] enableInvert True for inverted enable pin, false (default) for non-inverted
-  void setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
+@@ -437,6 +438,29 @@ public:
+
+ protected:
 
 + /// The current interval between steps in microseconds.
 + /// 0 means the motor is currently stopped with _speed == 0
@@ -52,9 +52,9 @@ index cc6b6dc..084aad6 100644
 + /// stepper motor or driver
 + uint8_t _pin[4];
 +
- protected:
-
  /// \brief Direction indicator
+ /// Symbolic names for the direction the motor is turning
+ typedef enum
 @@ -515,31 +539,14 @@ protected:
  /// pin3, pin4.
  /// \param[in] step The current step phase number (0 to 7)

iAccelStepper.cpp

@@ -3,6 +3,43 @@
 #include "inc/hw_gpio.h"
 #include "inc/hw_timer.h"
 
+//*****************************************************************************
+//
+// The list of Timer peripherals.
+//
+//*****************************************************************************
+static const unsigned long g_ulTIMERPeriph[MAX_INST] =
+{
+#if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
+// SYSCTL_PERIPH_TIMER0, // wiring_analog.c analogWrite()
+// SYSCTL_PERIPH_TIMER1,
+ SYSCTL_PERIPH_TIMER2,
+ SYSCTL_PERIPH_TIMER3
+// SYSCTL_PERIPH_TIMER4, // Tone.c
+// SYSCTL_PERIPH_TIMER5, // wiring.c - millis() micros()
+// SYSCTL_PERIPH_TIMER6,
+// SYSCTL_PERIPH_TIMER7
+#else
+ #error "**** No PART defined or unsupported PART ****"
+#endif
+};
+
+static const unsigned long g_ulTIMERBase[MAX_INST] =
+{
+#if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
+// TIMER0_BASE, // wiring_analog.c analogWrite()
+// TIMER1_BASE,
+ TIMER2_BASE,
+ TIMER3_BASE
+// TIMER4_BASE, // Tone.c
+// TIMER5_BASE, // wiring.c - millis() micros()
+// TIMER6_BASE,
+// TIMER7_BASE
+#else
+ #error "**** No PART defined or unsupported PART ****"
+#endif
+};
+
 static iAccelStepper* me[MAX_INST];
 static uint32_t _port_step[MAX_INST];
 static uint8_t _pin_step[MAX_INST];
@@ -30,35 +67,34 @@ void iAccelStepper::ISR(void) {
  HWREG(_port_dir[id]) = _direction?_pin_dir[id]:0;
  }
 
- HWREG(_port_step[id]) = 0;
- //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
- HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = _stepInterval - ulPeriod;
- //TimerEnable(g_ulTIMERBase[id], TIMER_A);
- HWREG(g_ulTIMERBase[id] + TIMER_O_CTL) |= TIMER_A & (TIMER_CTL_TAEN | TIMER_CTL_TBEN);
-
- } else {
-
  // either fire the timer again for another period or switch it off when the move is finished
  if((_stepInterval == 0) || (abs(distanceToGo()) < 1)) {
  //TimerDisable(g_ulTIMERBase[id], TIMER_A);
  HWREG(g_ulTIMERBase[id] + TIMER_O_CTL) &= ~(TIMER_A & (TIMER_CTL_TAEN | TIMER_CTL_TBEN));
  running = false;
  } else {
- _state[id] = true;
-
- if(_direction == DIRECTION_CW)
- // Clockwise
- ++_currentPos;
- else
- // Anticlockwise
- --_currentPos;
-
- //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
- HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = ulPeriod;
- HWREG(_port_step[id]) = _pin_step[id];
+ HWREG(_port_step[id]) = 0;
+ //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
+ HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = _stepInterval - ulPeriod;
  //TimerEnable(g_ulTIMERBase[id], TIMER_A);
  HWREG(g_ulTIMERBase[id] + TIMER_O_CTL) |= TIMER_A & (TIMER_CTL_TAEN | TIMER_CTL_TBEN);
  }
+ } else {
+
+ _state[id] = true;
+
+ if(_direction == DIRECTION_CW)
+ // Clockwise
+ ++_currentPos;
+ else
+ // Anticlockwise
+ --_currentPos;
+
+ //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
+ HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = ulPeriod;
+ HWREG(_port_step[id]) = _pin_step[id];
+ //TimerEnable(g_ulTIMERBase[id], TIMER_A);
+ HWREG(g_ulTIMERBase[id] + TIMER_O_CTL) |= TIMER_A & (TIMER_CTL_TAEN | TIMER_CTL_TBEN);
  }
 }
 
@@ -118,8 +154,6 @@ void iAccelStepper::moveTo(long absolute)
  if(!running && (distanceToGo() != 0)) {
  running = true;
 
- computeNewSpeed();
-
  if(direction[id] != _direction) {
  direction[id] = _direction;
  HWREG(_port_dir[id]) = _direction?_pin_dir[id]:0;

iAccelStepper.h

@@ -8,43 +8,6 @@
 
 #define MAX_INST 2
 
-//*****************************************************************************
-//
-// The list of Timer peripherals.
-//
-//*****************************************************************************
-static const unsigned long g_ulTIMERPeriph[MAX_INST] =
-{
-#if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
-// SYSCTL_PERIPH_TIMER0, // wiring_analog.c analogWrite()
-// SYSCTL_PERIPH_TIMER1,
- SYSCTL_PERIPH_TIMER2,
- SYSCTL_PERIPH_TIMER3
-// SYSCTL_PERIPH_TIMER4, // Tone.c
-// SYSCTL_PERIPH_TIMER5, // wiring.c - millis() micros()
-// SYSCTL_PERIPH_TIMER6,
-// SYSCTL_PERIPH_TIMER7
-#else
- #error "**** No PART defined or unsupported PART ****"
-#endif
-};
-
-static const unsigned long g_ulTIMERBase[MAX_INST] =
-{
-#if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
-// TIMER0_BASE, // wiring_analog.c analogWrite()
-// TIMER1_BASE,
- TIMER2_BASE,
- TIMER3_BASE
-// TIMER4_BASE, // Tone.c
-// TIMER5_BASE, // wiring.c - millis() micros()
-// TIMER6_BASE,
-// TIMER7_BASE
-#else
- #error "**** No PART defined or unsupported PART ****"
-#endif
-};
-
 class iAccelStepper : public AccelStepper
 {
 public:
@@ -54,7 +17,14 @@ class iAccelStepper : public AccelStepper
  void move(long relative);
  boolean run(void) { return running; };
  unsigned long stepInterval() { return _stepInterval; };
+
+ friend void timerISR0();
+ friend void timerISR1();
+// friend void timerISR2();
+
+protected:
  void ISR(void);
+
 private:
  volatile boolean running;
  unsigned int id;