stepper.h

#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_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