adding a patch file for AccelStepper

comments cleanup

AccelStepper.patch

@@ -0,0 +1,110 @@
+diff --git a/AccelStepper.cpp b/AccelStepper.cpp
+index 1714788..7674368 100644
+--- a/AccelStepper.cpp
++++ b/AccelStepper.cpp
+@@ -189,7 +189,7 @@ boolean AccelStepper::run()
+ return _speed != 0.0 || distanceToGo() != 0;
+ }
+
+-AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
++void AccelStepper::begin(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
+ {
+ _interface = interface;
+ _currentPos = 0;
+diff --git a/AccelStepper.h b/AccelStepper.h
+index cc6b6dc..084aad6 100644
+--- a/AccelStepper.h
++++ b/AccelStepper.h
+@@ -287,7 +287,8 @@ public:
+ /// to pin 5.
+ /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
+ /// the output pins at construction time.
+- AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
++ AccelStepper() {};
++ void begin(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
+
+ /// 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);
+
++ /// The current interval between steps in microseconds.
++ /// 0 means the motor is currently stopped with _speed == 0
++ unsigned long _stepInterval;
++
++ /// Current direction motor is spinning in
++ boolean _direction; // 1 == CW
++
++ /// The current absolution position in steps.
++ long _currentPos; // Steps
++
++ /// The target position in steps. The AccelStepper library will move the
++ /// motor from the _currentPos to the _targetPos, taking into account the
++ /// max speed, acceleration and deceleration
++ long _targetPos; // Steps
++
++ /// The current motos speed in steps per second
++ /// Positive is clockwise
++ float _speed; // Steps per second
++
++ /// Arduino pin number assignments for the 2 or 4 pins required to interface to the
++ /// stepper motor or driver
++ uint8_t _pin[4];
++
+ protected:
+
+ /// \brief Direction indicator
+@@ -515,31 +539,14 @@ protected:
+ /// pin3, pin4.
+ /// \param[in] step The current step phase number (0 to 7)
+ virtual void step8(long step);
+-
+ private:
+ /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
+ /// bipolar, and 4 pins is a unipolar.
+ uint8_t _interface; // 0, 1, 2, 4, 8, See MotorInterfaceType
+
+- /// Arduino pin number assignments for the 2 or 4 pins required to interface to the
+- /// stepper motor or driver
+- uint8_t _pin[4];
+-
+ /// Whether the _pins is inverted or not
+ uint8_t _pinInverted[4];
+
+- /// The current absolution position in steps.
+- long _currentPos; // Steps
+-
+- /// The target position in steps. The AccelStepper library will move the
+- /// motor from the _currentPos to the _targetPos, taking into account the
+- /// max speed, acceleration and deceleration
+- long _targetPos; // Steps
+-
+- /// The current motos speed in steps per second
+- /// Positive is clockwise
+- float _speed; // Steps per second
+-
+ /// The maximum permitted speed in steps per second. Must be > 0.
+ float _maxSpeed;
+
+@@ -548,10 +555,6 @@ private:
+ float _acceleration;
+ float _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
+
+- /// The current interval between steps in microseconds.
+- /// 0 means the motor is currently stopped with _speed == 0
+- unsigned long _stepInterval;
+-
+ /// The last step time in microseconds
+ unsigned long _lastStepTime;
+
+@@ -588,9 +591,6 @@ private:
+ /// Min step size in microseconds based on maxSpeed
+ float _cmin; // at max speed
+
+- /// Current direction motor is spinning in
+- boolean _direction; // 1 == CW
+-
+ };
+
+ /// @example Random.pde

iAccelStepper.cpp

@@ -22,7 +22,7 @@ void iAccelStepper::ISR(void) {
  _state[id] = false;
 
  // prepare for the next period
- // rising edge - calculate everything necessary and calculate _stepInterval
+ // falling edge - calculate everything necessary and calculate _stepInterval
  computeNewSpeed();
 
  if(direction[id] != _direction) {
@@ -64,7 +64,7 @@ void iAccelStepper::ISR(void) {
 
 void timerISR0(void) { me[0]->ISR(); }
 void timerISR1(void) { me[1]->ISR(); }
-void timerISR2(void) { me[2]->ISR(); }
+//void timerISR2(void) { me[2]->ISR(); }
 //void timerISR3(void) { me[3]->ISR(); }
 //void timerISR4(void) { me[4]->ISR(); }
 
@@ -128,9 +128,8 @@ void iAccelStepper::moveTo(long absolute)
  HWREG(_port_step[id]) = 0;
  _state[id] = false;
 
- //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, ulPeriod);
+ //TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
  HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = _stepInterval - ulPeriod;
-// HWREG(g_ulTIMERBase[id] + TIMER_O_TAILR) = ulPeriod;
  //TimerEnable(g_ulTIMERBase[id], TIMER_A);
  HWREG(g_ulTIMERBase[id] + TIMER_O_CTL) |= TIMER_A & (TIMER_CTL_TAEN | TIMER_CTL_TBEN);
  }