diff --git a/Inc/stepper.h b/Inc/stepper.h
index 364cc59..d4abf53 100644
--- a/Inc/stepper.h
+++ b/Inc/stepper.h
@@ -1,4 +1,5 @@
 #include "stm32g0b1xx.h"
+#include <stdint.h>
 
 typedef struct {
     GPIO_TypeDef* en_port;
@@ -11,13 +12,15 @@ typedef struct {
     uint8_t home_pin;
     uint8_t homed:1;
     uint8_t trigger_step:1;
+    int32_t home_position;
     int32_t pos;
+    int32_t endless_rot_integrator;
     int32_t speed;
     int32_t ramp_to_speed;
     uint32_t next_step;
 } stepper_T;
   
-#define STEPPER_MAX_SPEED 600
+#define STEPPER_MAX_SPEED 400
 
 #define STEPPER_STEPS_PER_ROTATION 3200
 
diff --git a/Makefile b/Makefile
index 4270395..1e35bda 100644
--- a/Makefile
+++ b/Makefile
@@ -22,7 +22,7 @@ TARGET = Parafraktor
 # debug build?
 DEBUG = 1
 # optimization
-OPT = -Og
+OPT = -O0
 
 
 #######################################
@@ -38,6 +38,7 @@ BUILD_DIR = build
 C_SOURCES =  \
 Src/main.c \
 Src/uart_dmx.c \
+Src/address_selector.c \
 Src/stepper.c \
 Src/stm32g0xx_it.c \
 Src/stm32g0xx_hal_msp.c \
diff --git a/Src/main.c b/Src/main.c
index 135a44b..e3a1d2a 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -30,6 +30,7 @@
 
 #include "uart_dmx.h"
 #include "stepper.h"
+#include "address_selector.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -56,6 +57,8 @@
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
+
+uint8_t dmx_address;
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -99,6 +102,9 @@ int main(void)
   /* USER CODE BEGIN 2 */
   init_UART1_dma(); 
   stepper_gpio_init();
+  adress_selector_init_gpio();
+  dmx_address = read_address();
+  
   Timer1_Init();
   /* USER CODE END 2 */
 
@@ -112,6 +118,7 @@ int main(void)
       //    printf("0x%02X ", rxBuffer[i]);
       //printf("\n");
       SEGGER_SYSVIEW_OnIdle();
+      //read_address();
       //if(cnt++ >= 256-rxBuffer[1]){
       //    cnt = 0;
       //    GPIOE->ODR ^= GPIO_ODR_OD2;
diff --git a/Src/stepper.c b/Src/stepper.c
index b5eedc2..41edd7d 100644
--- a/Src/stepper.c
+++ b/Src/stepper.c
@@ -6,10 +6,11 @@
 
 #include "SEGGER_SYSVIEW.h"
 #include "uart_dmx.h"
+#include "address_selector.h"
 
 stepper_T steppers[] = {
-    {.en_port=GPIOC, .en_pin=11, .dir_port=GPIOB, .dir_pin=4, .step_port=GPIOE, .step_pin=2, .home_port=GPIOF, .home_pin=3},
-    {.en_port=GPIOB, .en_pin=3, .dir_port=GPIOF, .dir_pin=11, .step_port=GPIOF, .step_pin=12, .home_port=GPIOF, .home_pin=4}
+    {.en_port=GPIOC, .en_pin=11, .dir_port=GPIOB, .dir_pin=4, .step_port=GPIOE, .step_pin=2, .home_port=GPIOF, .home_pin=3, .home_position=1000},
+    {.en_port=GPIOB, .en_pin=3, .dir_port=GPIOF, .dir_pin=11, .step_port=GPIOF, .step_pin=12, .home_port=GPIOF, .home_pin=4, .home_position=0}
 };
 
 void set_pins(stepper_T* stp){
@@ -122,14 +123,52 @@ void do_steps(){
                 steppers[i].next_step = timer + 1;
             }
 
-            printf("motor[%d]: pos %ld\tspeed %ld\n", i, steppers[i].pos, steppers[i].speed);
+            printf("motor[%d]: pos %ld\trot: %ld\tspeed %ld\n", i, steppers[i].pos, steppers[i].endless_rot_integrator, steppers[i].speed);
         }
 
         if(steppers[i].homed){
             static uint16_t old_ramp_to_speed;
             old_ramp_to_speed = steppers[i].ramp_to_speed;
 
-            int32_t swapped_val = rxBuffer[2*i+1]<<8 | (rxBuffer[2*i+2]&0xFF);
+            uint8_t raw_endless = rxBuffer[6*i + DMX_ADDRESS + 2]; 
+            int16_t rotation_speed;
+
+            ///* deadzone on top and bottom */
+            //if(raw_endless >= 5 && raw_endless <= 250) {
+            //    rotation_speed = raw_endless - 127;
+
+            //    /* dead zone in the middle */
+            //    if(rotation_speed >= 5)
+            //        rotation_speed -= 5;
+            //    else if(rotation_speed <= -5)
+            //        rotation_speed += 5;
+            //    else
+            //        rotation_speed = 0;
+            //}
+            //else{
+            //    rotation_speed = 0;
+            //}
+
+            ///* handle endless rotation offset and wraparound */
+            //if(rotation_speed){
+            //    steppers[i].endless_rot_integrator += rotation_speed;
+            //    if(steppers[i].endless_rot_integrator >= STEPPER_STEPS_PER_ROTATION)
+            //    {
+            //        steppers[i].endless_rot_integrator -= STEPPER_STEPS_PER_ROTATION;
+            //        steppers[i].pos -= STEPPER_STEPS_PER_ROTATION;
+            //    }
+            //    else if(steppers[i].endless_rot_integrator <= 0)
+            //    {
+            //        steppers[i].endless_rot_integrator += STEPPER_STEPS_PER_ROTATION;
+            //        steppers[i].pos += STEPPER_STEPS_PER_ROTATION;
+            //    }
+            //}
+            //else
+            //    steppers[i].endless_rot_integrator = 0;
+
+
+            int32_t swapped_val = rxBuffer[6*i + DMX_ADDRESS]<<8 | (rxBuffer[6*i+DMX_ADDRESS+1]&0xFF);
+            //swapped_val += steppers[i].endless_rot_integrator;
             int32_t scaled_steps = swapped_val * STEPPER_STEPS_PER_ROTATION / UINT16_MAX;
             steppers[i].ramp_to_speed = scaled_steps - steppers[i].pos;
 
@@ -138,7 +177,7 @@ void do_steps(){
         }
         else{
             if(~(steppers[i].home_port->IDR) & (1 << steppers[i].home_pin)){
-                steppers[i].pos = 0;
+                steppers[i].pos = steppers[i].home_position;
                 steppers[i].homed = 1;
                 steppers[i].speed = 0;
                 steppers[i].ramp_to_speed = 0;
diff --git a/compile_flags.txt b/compile_flags.txt
index 92d6f97..9edb108 100644
--- a/compile_flags.txt
+++ b/compile_flags.txt
@@ -12,7 +12,7 @@
 -IDrivers/SystemView/Config
 -IDrivers/SystemView/SEGGER
 -IDrivers/SystemView/SYSVIEW
--Og
+-O0
 -Wall
 -fdata-sections
 -ffunction-sections