#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 trigger_step:1;
    int32_t pos;
    int32_t speed;
    int32_t ramp_to_speed;
    uint32_t next_step;
} stepper_T;
  
#define STEPPER_MAX_SPEED 600

#define STEPPER_STEPS_PER_ROTATION 3200

void Timer1_Init(void);
void stepper_gpio_init();
void do_steps();