File content as of revision 0:a4d8f5b3c546:

// Microduino_Stepper.cpp
//
// Copyright (C) 2009-2013 Shenyang
// $Id: Microduino_Stepper.cpp,v 1.00 2016/04/07 $

#ifndef __MICRODUINO_STEPPER_H__
#define __MICRODUINO_STEPPER_H__

#include "mbed.h"
#include "MicroduinoPinNames.h"
#include <stdlib.h>
//#include <Arduino.h>

//#define _useTimer1
#define MAX_SPEED_S 	4096
#define TIMER_COMP	327680/MAX_SPEED_S


#define PIN_SET(pin) (*portOutputRegister(digitalPinToPort(pin)) |= digitalPinToBitMask(pin))
#define PIN_CLR(pin) (*portOutputRegister(digitalPinToPort(pin)) &= ~digitalPinToBitMask(pin))

#define MAX_STEPPERS 		4
#define INVALID_STEPPER		255

#if 0
#define PIN_EN  	4      //PORTB,0
#define PIN_DIRA 	A0    //PORTA,7
#define PIN_STEPA 	5   //PORTB,1
#define PIN_DIRB 	A1    //PORTA,6
#define PIN_STEPB 	6   //PORTB,2
#define PIN_DIRC 	A2    //PORTA,5
#define PIN_STEPC 	7   //PORTB,3
#define PIN_DIRD 	A3    //PORTA,4
#define PIN_STEPD 	8   //PORTD,6
#else
#define PIN_EN  	D4
#define PIN_DIRA 	A0
#define PIN_STEPA 	D5
#define PIN_DIRB 	A1
#define PIN_STEPB 	D6
#define PIN_DIRC 	A2
#define PIN_STEPC 	D7
#define PIN_DIRD 	A3
#define PIN_STEPD 	D8
#endif

#define DEFAULT_ACCEL 120

void stepperAllEnable();
void stepperAllDisable();

class Stepper
{
public:

    Stepper(uint8_t _dirPin, uint8_t _stepPin);

    uint8_t begin();

    void setSpeed(int16_t _speed);

    void setMaxAccel(uint16_t _accel);

    int16_t getSpeed();

    uint16_t getMaxAccel();

    void computeStep();

private:

	gpio_t      dirOUT;
	gpio_t      stepOUT;
    uint8_t 	stepperIndex;
    uint8_t 	dirPin;
    uint8_t 	stepPin;
    int16_t		speed;
    uint16_t	maxAccel;
    uint16_t 	period;
    uint16_t	counter;

};

typedef struct {
    //uint8_t isActive = false;
    uint8_t isActive;
    Stepper *stepper;
} Stepper_t;

#endif