diff --git a/Inc/stepper.h b/Inc/stepper.h
new file mode 100644
index 0000000..39f2fdc
--- /dev/null
+++ b/Inc/stepper.h
@@ -0,0 +1,22 @@
+#include "stm32g0b1xx.h"
+
+typedef struct {
+    GPIO_TypeDef* en_port;
+    uint8_t en_pin;
+    GPIO_TypeDef* dir_port;
+    uint8_t dir_pin;
+    GPIO_TypeDef* step_port;
+    uint8_t step_pin;
+    GPIO_TypeDef* home_port;
+    uint8_t home_pin;
+    uint8_t homed:1;
+    uint8_t moving:1;
+    int16_t pos;
+    int16_t speed;
+    int16_t ramp_to_speed;
+    uint32_t next_step;
+} stepper_T;
+  
+void Timer1_Init(void);
+void stepper_gpio_init();
+void do_steps();
diff --git a/Inc/uart_dmx.h b/Inc/uart_dmx.h
new file mode 100644
index 0000000..95a505c
--- /dev/null
+++ b/Inc/uart_dmx.h
@@ -0,0 +1,9 @@
+#include "stm32g0b1xx.h"
+
+#define BUFFER_SIZE 515
+
+extern uint8_t rxBuffer[BUFFER_SIZE];
+extern uint16_t rxBufferPos;
+
+void init_UART1_it();
+void init_UART1_dma();
diff --git a/Makefile b/Makefile
index a2f03af..4270395 100644
--- a/Makefile
+++ b/Makefile
@@ -37,6 +37,8 @@ BUILD_DIR = build
 # C sources
 C_SOURCES =  \
 Src/main.c \
+Src/uart_dmx.c \
+Src/stepper.c \
 Src/stm32g0xx_it.c \
 Src/stm32g0xx_hal_msp.c \
 Drivers/STM32G0xx_HAL_Driver/Src/stm32g0xx_hal_tim.c \
@@ -59,7 +61,7 @@ Drivers/RTT/RTT/SEGGER_RTT.c \
 Drivers/RTT/RTT/SEGGER_RTT_printf.c \
 Drivers/RTT/Syscalls/SEGGER_RTT_Syscalls_GCC.c \
 Drivers/SystemView/SYSVIEW/SEGGER_SYSVIEW.c \
-Drivers/SystemView/Sample/NoOS/Config/Cortex-M0/SEGGER_SYSVIEW_Config_NoOS_CM0.c\
+Drivers/SystemView/Sample/NoOS/Config/Cortex-M0/SEGGER_SYSVIEW_Config_NoOS_CM0.c \
 Src/system_stm32g0xx.c
 
 # ASM sources
diff --git a/Src/main.c b/Src/main.c
index 7ab808f..135a44b 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -27,6 +27,9 @@
 #include "stm32g0xx_hal_cortex.h"
 #include <stdint.h>
 #include <stdio.h>
+
+#include "uart_dmx.h"
+#include "stepper.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -59,151 +62,7 @@ static void MX_GPIO_Init(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
-#define BUFFER_SIZE 515
-uint8_t rxBuffer[BUFFER_SIZE];
-uint16_t rxBufferPos = 0;
-
-void init_UART1_it(){
-    RCC->APBENR2 |= RCC_APBENR2_USART1EN;
-    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
-
-    GPIOC->MODER &= ~GPIO_MODER_MODE5; // Alternate function mode on RX pin
-    GPIOC->MODER |= GPIO_MODER_MODE5_1;
-    GPIOC->AFR[0] &= GPIO_AFRL_AFSEL5;
-    GPIOC->AFR[0] |= 1 << GPIO_AFRL_AFSEL5_Pos; // AF1 -> USART1 RX
-
-    USART1->BRR = 128; // 32000000÷250000
-    USART1->CR1 = USART_CR1_RE;
-
-    USART1->CR3 |= USART_CR3_EIE; // Interrupt on BREAK (and other errors)
-    USART1->CR1 |= USART_CR1_RXNEIE_RXFNEIE; // RX Interrupt
-
-    USART1->CR1 |= USART_CR1_UE;
-
-    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(USART1_IRQn);
-}
-
-void init_UART1_dma(){
-    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
-    RCC->APBENR2 |= RCC_APBENR2_USART1EN;
-    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
-
-    GPIOC->MODER &= ~GPIO_MODER_MODE5; // Alternate function mode on RX pin
-    GPIOC->MODER |= GPIO_MODER_MODE5_1;
-    GPIOC->AFR[0] &= GPIO_AFRL_AFSEL5;
-    GPIOC->AFR[0] |= 1 << GPIO_AFRL_AFSEL5_Pos; // AF1 -> USART1 RX
-
-    USART1->BRR = 256; // 64000000÷250000
-    USART1->CR1 = USART_CR1_RE;
-
-    USART1->CR3 |= USART_CR3_EIE; // Interrupt on BREAK (and other errors)
-    USART1->CR3 |= USART_CR3_DMAR; // DMA Receiver mode
-
-    DMA1_Channel1->CCR = (0x02 << DMA_CCR_PL_Pos) | DMA_CCR_MINC | DMA_CCR_TCIE;
-
-    DMA1_Channel1->CMAR  = ( uint32_t )&rxBuffer[0];
-    DMA1_Channel1->CPAR  = ( uint32_t )&(USART1->RDR);
-    DMA1_Channel1->CNDTR = 5;
-
-    DMAMUX1_Channel0->CCR &= ~( DMAMUX_CxCR_DMAREQ_ID );
-    DMAMUX1_Channel0->CCR |=  ( 50 << DMAMUX_CxCR_DMAREQ_ID_Pos ); // 50 -> USART1 RX
-
-    USART1->CR1 |= USART_CR1_UE;
-
-    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(USART1_IRQn);
 
-    HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
-    HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
-}
-
-void Reset_DMA(void) {
-    // Disable the DMA channel
-    DMA1_Channel1->CCR &= ~DMA_CCR_EN; // Disable DMA Channel 1
-
-    // Clear the transfer complete flag
-    DMA1->IFCR |= DMA_IFCR_CTCIF1; // Clear transfer complete flag for Channel 1
-
-    // Reconfigure the DMA
-    DMA1_Channel1->CMAR = (uint32_t)rxBuffer; // Set memory address to the start of the buffer
-    DMA1_Channel1->CNDTR = BUFFER_SIZE; // Set number of data items to transfer
-
-    // Enable the DMA channel again
-    DMA1_Channel1->CCR |= DMA_CCR_EN; // Enable DMA Channel 1
-}
-
-void USART1_IRQHandler(){
-    SEGGER_SYSVIEW_RecordEnterISR();
-     if(USART1->ISR & USART_ISR_RXNE_RXFNE){
-         //SEGGER_SYSVIEW_PrintfHost("RXNE");
-         //printf("%x ", USART1->RDR);
-         rxBuffer[rxBufferPos++] = USART1->RDR;
-         if(rxBufferPos >= BUFFER_SIZE){
-             rxBufferPos = 0;
-         }
-     }
-
-     if(USART1->ISR & USART_ISR_FE){
-         //TODO read rx==0
-         USART1->ICR = USART_ICR_FECF;
-         //if(rxBufferPos != 514)
-         //    printf("FE after %d\n",rxBufferPos);
-         //rxBufferPos = 0;
-         //DMA1_Channel1->CNDTR = 1;
-         SEGGER_SYSVIEW_PrintfHost("FE");
-         Reset_DMA();
-         //DMA1_Channel1->CCR &= ~( DMA_CCR_EN );
-         //DMA1_Channel1->CNDTR = 512;
-         //DMA1_Channel1->CMAR  = ( uint32_t )&rxBuffer[0];
-         //DMA1_Channel1->CCR |= ( DMA_CCR_EN );
-         ////DMA1_Channel1->CCR |= ( DMA_CCR_EN );
-     }
-     if(USART1->ISR & USART_ISR_ORE){
-         USART1->ICR = USART_ICR_ORECF;
-         //printf("ORE\n");
-         //SEGGER_SYSVIEW_PrintfHost("ORE");
-     }
-     if(USART1->ISR & USART_ISR_NE){
-         USART1->ICR = USART_ICR_NECF;
-         printf("NE\n");
-     }
-     if(USART1->ISR & USART_ISR_UDR){
-         USART1->ICR = USART_ICR_UDRCF;
-         printf("UDR\n");
-     }
-    SEGGER_SYSVIEW_RecordExitISR();
-}
-
-void DMA1_Channel1_IRQHandler(){
-    SEGGER_SYSVIEW_RecordEnterISR();
-    if(DMA1->ISR & DMA_ISR_TCIF1){
-        DMA1->IFCR = DMA_IFCR_CTCIF1;
-    }
-    SEGGER_SYSVIEW_PrintfHost("DMA");
-    SEGGER_SYSVIEW_RecordExitISR();
-}
-
-void init_stepper(){
-    RCC->IOPENR |= RCC_IOPENR_GPIOBEN;
-    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
-    RCC->IOPENR |= RCC_IOPENR_GPIOEEN;
-
-    // Set to output (00: Input, 01: Output, 10: Alternate function, 11: Analog)
-    // PB4 Direction
-    GPIOB->MODER &= ~(0x3 << (4 * 2)); // Clear mode bits for PB4
-    GPIOB->MODER |= (0x1 << (4 * 2));  // Set mode to output for PB4
-
-    // PC11 Enable
-    GPIOC->MODER &= ~(0x3 << (11 * 2)); // Clear mode bits for PC11
-    GPIOC->MODER |= (0x1 << (11 * 2));  // Set mode to output for PC11
-
-    // PE2 Step
-    GPIOE->MODER &= ~(0x3 << (2 * 2));   // Clear mode bits for PE2
-    GPIOE->MODER |= (0x1 << (2 * 2));    // Set mode to output for PE2
-
-    GPIOC->BSRR |= GPIO_BSRR_BS11;
-}
 /* USER CODE END 0 */
 
 /**
@@ -239,24 +98,24 @@ int main(void)
   MX_GPIO_Init();
   /* USER CODE BEGIN 2 */
   init_UART1_dma(); 
-  init_stepper();
+  stepper_gpio_init();
+  Timer1_Init();
   /* USER CODE END 2 */
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
-  //HAL_UART_Receive_DMA(&huart1, rxBuffer, BUFFER_SIZE);
-  uint16_t cnt = 0;
+  //uint16_t cnt = 0;
   while (1)
   {
-      printf("buf: ");
-      for(uint16_t i=0; i<10; i++)
-          printf("0x%02X ", rxBuffer[i]);
-      printf("\n");
+      //printf("buf: ");
+      //for(uint16_t i=0; i<10; i++)
+      //    printf("0x%02X ", rxBuffer[i]);
+      //printf("\n");
       SEGGER_SYSVIEW_OnIdle();
-      if(cnt++ >= 260-rxBuffer[1]){
-          cnt = 0;
-          GPIOE->ODR ^= GPIO_ODR_OD2;
-      }
+      //if(cnt++ >= 256-rxBuffer[1]){
+      //    cnt = 0;
+      //    GPIOE->ODR ^= GPIO_ODR_OD2;
+      //}
     /* USER CODE END WHILE */
 
     /* USER CODE BEGIN 3 */
diff --git a/Src/stepper.c b/Src/stepper.c
new file mode 100644
index 0000000..9c6232f
--- /dev/null
+++ b/Src/stepper.c
@@ -0,0 +1,136 @@
+#include "stm32g0b1xx.h"
+#include "stepper.h"
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "SEGGER_SYSVIEW.h"
+#include "uart_dmx.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}
+};
+
+void set_pins(stepper_T* stp){
+    // Set direction (00: Input, 01: Output, 10: Alternate function, 11: Analog)
+
+    // enable
+    stp->en_port->MODER &= ~(0x3 << (stp->en_pin * 2));
+    stp->en_port->MODER |=  (0x1 << (stp->en_pin * 2));
+
+    // direction
+    stp->dir_port->MODER &= ~(0x3 << (stp->dir_pin * 2));
+    stp->dir_port->MODER |=  (0x1 << (stp->dir_pin * 2));
+
+    // step
+    stp->step_port->MODER &= ~(0x3 << (stp->step_pin * 2));
+    stp->step_port->MODER |=  (0x1 << (stp->step_pin * 2));
+
+    // home switch
+    stp->home_port->MODER &= ~(0x3 << (stp->home_pin * 2));
+
+    // make shure stepper is enabled (active low)
+    stp->en_port->BSRR |= (0x1 << (stp->en_pin + 16));
+}
+
+void stepper_gpio_init(){
+    RCC->IOPENR |= RCC_IOPENR_GPIOBEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOEEN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOFEN;
+
+    for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
+        set_pins(&steppers[i]);
+    }
+}
+
+void Timer1_Init(void) {
+    // Step 1: Enable the clock for Timer 1
+    RCC->APBENR2 |= RCC_APBENR2_TIM1EN;  // Enable TIM1 clock
+
+    // Step 2: Configure Timer 1
+    TIM1->PSC = 64;
+    TIM1->ARR = 100;
+    TIM1->DIER |= TIM_DIER_UIE; // Enable update interrupt
+
+    // Step 3: Enable Timer 1
+    TIM1->CR1 |= TIM_CR1_CEN; // Enable the timer
+
+    // Step 4: Enable the interrupt in NVIC
+    NVIC_EnableIRQ(TIM1_BRK_UP_TRG_COM_IRQn); // Enable Timer 1 interrupt in NVIC
+}
+
+// Timer 1 Update Interrupt Handler
+void TIM1_BRK_UP_TRG_COM_IRQHandler(void) {
+    SEGGER_SYSVIEW_RecordEnterISR();
+    if (TIM1->SR & TIM_SR_UIF) { // Check if the update interrupt flag is set
+        TIM1->SR &= ~TIM_SR_UIF; // Clear the update interrupt flag
+
+        //SEGGER_SYSVIEW_PrintfHost("do step");
+        do_steps();
+    }
+    SEGGER_SYSVIEW_RecordExitISR();
+}
+
+void do_steps(){
+    static uint32_t timer = 0;
+    timer++;
+
+    for(uint8_t i=0; i<(sizeof(steppers)/sizeof(stepper_T)); i++){
+        if(steppers[i].ramp_to_speed != 0 && steppers[i].next_step == timer){
+            /* ramp speed */
+            if(steppers[i].speed < steppers[i].ramp_to_speed)
+               steppers[i].speed++;
+            if(steppers[i].speed > steppers[i].ramp_to_speed)
+               steppers[i].speed--;
+
+            /* limit max speed */
+            if(steppers[i].speed >= 100)
+               steppers[i].speed=100;
+            if(steppers[i].speed <= -100)
+               steppers[i].speed=-100;
+
+            /* get direction from sign */
+            if(steppers[i].speed>0)
+                steppers[i].dir_port->BSRR |= 1 << steppers[i].dir_pin;
+            if(steppers[i].speed<0)
+                steppers[i].dir_port->BSRR |= 1 << (steppers[i].dir_pin + 16);
+
+            /* calculate next step time */
+            steppers[i].next_step = timer + (1000/abs(steppers[i].speed)); // should be safe for 1 overflow
+
+            /* step and count position */
+            steppers[i].step_port->ODR ^= 1 << steppers[i].step_pin;
+            if(steppers[i].speed>0)
+                steppers[i].pos++;
+            if(steppers[i].speed<0)
+                steppers[i].pos--;
+                
+            printf("pos %d\tspeed %d\n", steppers[i].pos, steppers[i].speed);
+        }
+
+        if(steppers[i].homed){
+            int16_t old_ramp_to_speed = steppers[i].ramp_to_speed;
+
+            steppers[i].ramp_to_speed = rxBuffer[1] - steppers[i].pos;
+
+            if(steppers[i].ramp_to_speed != 0 && old_ramp_to_speed == 0)
+                steppers[i].next_step = timer+1;
+        }
+        else{
+            if(~(steppers[i].home_port->IDR) & (1 << steppers[i].home_pin)){
+                steppers[i].pos = 0;
+                steppers[i].homed = 1;
+                steppers[i].speed = 0;
+                steppers[i].ramp_to_speed = 0;
+                printf("homed %d\n", i);
+            }
+            else{
+                if(steppers[i].ramp_to_speed == 0){
+                    steppers[i].ramp_to_speed=10;
+                    steppers[i].next_step = timer+1;
+                }
+            }
+        }
+    }
+}
diff --git a/Src/uart_dmx.c b/Src/uart_dmx.c
new file mode 100644
index 0000000..6ece8d7
--- /dev/null
+++ b/Src/uart_dmx.c
@@ -0,0 +1,129 @@
+#include "uart_dmx.h"
+#include "SEGGER_SYSVIEW.h"
+#include "stdio.h"
+#include "stm32g0xx_hal.h"
+#include "system_stm32g0xx.h"
+
+uint8_t rxBuffer[BUFFER_SIZE];
+uint16_t rxBufferPos = 0;
+
+void init_UART1_it(){
+    RCC->APBENR2 |= RCC_APBENR2_USART1EN;
+    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
+
+    GPIOC->MODER &= ~GPIO_MODER_MODE5; // Alternate function mode on RX pin
+    GPIOC->MODER |= GPIO_MODER_MODE5_1;
+    GPIOC->AFR[0] &= GPIO_AFRL_AFSEL5;
+    GPIOC->AFR[0] |= 1 << GPIO_AFRL_AFSEL5_Pos; // AF1 -> USART1 RX
+
+    USART1->BRR = 128; // 32000000÷250000
+    USART1->CR1 = USART_CR1_RE;
+
+    USART1->CR3 |= USART_CR3_EIE; // Interrupt on BREAK (and other errors)
+    USART1->CR1 |= USART_CR1_RXNEIE_RXFNEIE; // RX Interrupt
+
+    USART1->CR1 |= USART_CR1_UE;
+
+    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
+}
+
+void init_UART1_dma(){
+    RCC->IOPENR |= RCC_IOPENR_GPIOCEN;
+    RCC->APBENR2 |= RCC_APBENR2_USART1EN;
+    RCC->AHBENR |= RCC_AHBENR_DMA1EN;
+
+    GPIOC->MODER &= ~GPIO_MODER_MODE5; // Alternate function mode on RX pin
+    GPIOC->MODER |= GPIO_MODER_MODE5_1;
+    GPIOC->AFR[0] &= GPIO_AFRL_AFSEL5;
+    GPIOC->AFR[0] |= 1 << GPIO_AFRL_AFSEL5_Pos; // AF1 -> USART1 RX
+
+    USART1->BRR = SystemCoreClock / 250000; // 64000000÷250000
+    USART1->CR1 = USART_CR1_RE;
+
+    USART1->CR3 |= USART_CR3_EIE; // Interrupt on BREAK (and other errors)
+    USART1->CR3 |= USART_CR3_DMAR; // DMA Receiver mode
+
+    DMA1_Channel1->CCR = (0x02 << DMA_CCR_PL_Pos) | DMA_CCR_MINC | DMA_CCR_TCIE;
+
+    DMA1_Channel1->CMAR  = ( uint32_t )&rxBuffer[0];
+    DMA1_Channel1->CPAR  = ( uint32_t )&(USART1->RDR);
+    DMA1_Channel1->CNDTR = 5;
+
+    DMAMUX1_Channel0->CCR &= ~( DMAMUX_CxCR_DMAREQ_ID );
+    DMAMUX1_Channel0->CCR |=  ( 50 << DMAMUX_CxCR_DMAREQ_ID_Pos ); // 50 -> USART1 RX
+
+    USART1->CR1 |= USART_CR1_UE;
+
+    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART1_IRQn);
+
+    HAL_NVIC_SetPriority(DMA1_Channel1_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(DMA1_Channel1_IRQn);
+}
+
+void Reset_DMA(void) {
+    // Disable the DMA channel
+    DMA1_Channel1->CCR &= ~DMA_CCR_EN; // Disable DMA Channel 1
+
+    // Clear the transfer complete flag
+    DMA1->IFCR |= DMA_IFCR_CTCIF1; // Clear transfer complete flag for Channel 1
+
+    // Reconfigure the DMA
+    DMA1_Channel1->CMAR = (uint32_t)rxBuffer; // Set memory address to the start of the buffer
+    DMA1_Channel1->CNDTR = BUFFER_SIZE; // Set number of data items to transfer
+
+    // Enable the DMA channel again
+    DMA1_Channel1->CCR |= DMA_CCR_EN; // Enable DMA Channel 1
+}
+
+void USART1_IRQHandler(){
+    SEGGER_SYSVIEW_RecordEnterISR();
+     if(USART1->ISR & USART_ISR_RXNE_RXFNE){
+         //SEGGER_SYSVIEW_PrintfHost("RXNE");
+         //printf("%x ", USART1->RDR);
+         rxBuffer[rxBufferPos++] = USART1->RDR;
+         if(rxBufferPos >= BUFFER_SIZE){
+             rxBufferPos = 0;
+         }
+     }
+
+     if(USART1->ISR & USART_ISR_FE){
+         //TODO read rx==0
+         USART1->ICR = USART_ICR_FECF;
+         //if(rxBufferPos != 514)
+         //    printf("FE after %d\n",rxBufferPos);
+         //rxBufferPos = 0;
+         //DMA1_Channel1->CNDTR = 1;
+         SEGGER_SYSVIEW_PrintfHost("FE");
+         Reset_DMA();
+         //DMA1_Channel1->CCR &= ~( DMA_CCR_EN );
+         //DMA1_Channel1->CNDTR = 512;
+         //DMA1_Channel1->CMAR  = ( uint32_t )&rxBuffer[0];
+         //DMA1_Channel1->CCR |= ( DMA_CCR_EN );
+         ////DMA1_Channel1->CCR |= ( DMA_CCR_EN );
+     }
+     if(USART1->ISR & USART_ISR_ORE){
+         USART1->ICR = USART_ICR_ORECF;
+         //printf("ORE\n");
+         //SEGGER_SYSVIEW_PrintfHost("ORE");
+     }
+     if(USART1->ISR & USART_ISR_NE){
+         USART1->ICR = USART_ICR_NECF;
+         printf("NE\n");
+     }
+     if(USART1->ISR & USART_ISR_UDR){
+         USART1->ICR = USART_ICR_UDRCF;
+         printf("UDR\n");
+     }
+    SEGGER_SYSVIEW_RecordExitISR();
+}
+
+void DMA1_Channel1_IRQHandler(){
+    SEGGER_SYSVIEW_RecordEnterISR();
+    if(DMA1->ISR & DMA_ISR_TCIF1){
+        DMA1->IFCR = DMA_IFCR_CTCIF1;
+    }
+    SEGGER_SYSVIEW_PrintfHost("DMA");
+    SEGGER_SYSVIEW_RecordExitISR();
+}