#ifndef _BY_STEPPER_H__
#define _BY_STEPPER_H__

#include "at32f413.h"

typedef enum stepper_speed_t {
  STEPPER_SPEED_DIV1  = 1,
  STEPPER_SPEED_DIV2  = 2,
  STEPPER_SPEED_DIV4  = 4,
  STEPPER_SPEED_DIV8  = 8,
  STEPPER_SPEED_DIV16 = 16,
  STEPPER_SPEED_DIV32 = 32
} stepper_speed_t;

extern void by_stepper_set_dir(uint8_t dir);
extern void by_stepper_set_speed(stepper_speed_t speed);
extern void by_stepper_init(void);
extern void by_stepper_run(void);
extern void by_stepper_stop(uint8_t hold);
extern void by_stepper_set_position_millimeter(float distance);
extern void by_stepper_add_position_millimeter(float distance);
extern void by_stepper_loop(void);
extern void by_stpepper_int(void);

extern int64_t position;
extern int64_t position_aim;
extern int64_t position_offset;
extern uint8_t running_flag;

#endif