#include <avr/io.h>

void stepper_init();

void update_stepper();


extern uint8_t stepper_command;
#define CMD_STEP			1
#define CMD_RUN				2
#define CMD_HOME			3
#define CMD_GOTO			4
#define CMD_TOP				5
#define CMD_GOTO_BACKW		6

extern uint8_t stepper_run;
#define STEPPER_READY		0
#define STEPPER_ACTIVE		1

extern uint8_t stepper_dir;
//1= forward, 0= reverse

extern uint16_t position_request;
extern uint16_t delta;

#define VStart             50
#define VMax              970
#define VEnd               50
#define Beschleunigung    700
#define Bremsung          500
#define Prescaler          64