diff --git a/components/DendoStepper/CMakeLists.txt b/components/DendoStepper/CMakeLists.txt
new file mode 100644
index 0000000..cc99d4a
--- /dev/null
+++ b/components/DendoStepper/CMakeLists.txt
@@ -0,0 +1 @@
+idf_component_register(SRCS DendoStepper.cpp INCLUDE_DIRS include)
\ No newline at end of file
diff --git a/components/DendoStepper/DendoStepper.cpp b/components/DendoStepper/DendoStepper.cpp
new file mode 100644
index 0000000..6443845
--- /dev/null
+++ b/components/DendoStepper/DendoStepper.cpp
@@ -0,0 +1,351 @@
+#include "DendoStepper.h"
+#include "esp_log.h"
+
+#define STEP_DEBUG
+
+#ifdef STEP_DEBUG
+#define STEP_LOGI(...) ESP_LOGI(__VA_ARGS__)
+#define STEP_LOGW(...) ESP_LOGW(__VA_ARGS__)
+#define STEP_LOGE(...) ESP_LOGE(__VA_ARGS__)
+#else
+#define STEP_LOGI(...) while (0)
+#define STEP_LOGW(...) while (0)
+#define STEP_LOGE(...) ESP_LOGE(__VA_ARGS__)
+#endif
+
+bool state = 0;
+
+// PUBLIC definitions
+
+DendoStepper::DendoStepper()
+{
+}
+
+void DendoStepper::config(DendoStepper_config_t *config)
+{
+    memcpy(&conf, config, sizeof(conf));
+}
+
+void DendoStepper::disableMotor()
+{
+    setEn(true);
+    STEP_LOGI("DendoStepper", "Disabled");
+    ctrl.status = DISABLED;
+}
+
+void DendoStepper::enableMotor()
+{
+    setEn(false);
+    ctrl.status = IDLE;
+    STEP_LOGI("DendoStepper", "Enabled");
+    timerStarted = 0;
+}
+
+void DendoStepper::init(uint8_t stepP, uint8_t dirP, uint8_t enP, timer_group_t group, timer_idx_t index, microStepping_t microstepping = MICROSTEP_1, uint16_t stepsPerRot = 200)
+{
+    conf.stepPin = stepP;
+    conf.dirPin = dirP;
+    conf.enPin = enP;
+    conf.timer_group = group;
+    conf.timer_idx = index;
+    conf.miStep = microstepping;
+    ctrl.status = 0;
+    init();
+}
+
+void DendoStepper::init()
+{
+    uint64_t mask = (1ULL << conf.stepPin) | (1ULL << conf.dirPin) | (1ULL << conf.enPin); // put output gpio pins in bitmask
+    gpio_config_t gpio_conf = {
+        // config gpios
+        .pin_bit_mask = mask,
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_up_en = GPIO_PULLUP_DISABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE,
+    };
+    // set the gpios as per gpio_conf
+    ESP_ERROR_CHECK(gpio_config(&gpio_conf));
+
+    timer_config_t timer_conf = {
+        .alarm_en = TIMER_ALARM_EN,         // we need alarm
+        .counter_en = TIMER_PAUSE,          // dont start now lol
+        .intr_type = TIMER_INTR_LEVEL,      // interrupt
+        .counter_dir = TIMER_COUNT_UP,      // count up duh
+        .auto_reload = TIMER_AUTORELOAD_EN, // reload pls
+        .divider = 80000000ULL / TIMER_F,   // ns resolution
+    };
+
+    // calculate stepsPerRot
+    ctrl.stepsPerRot = (360.0 / conf.stepAngle) * conf.miStep;
+
+    STEP_LOGI("DendoStepper", "Steps per one rotation:%d", ctrl.stepsPerRot);
+
+    if (conf.timer_group != TIMER_GROUP_MAX && conf.timer_idx != TIMER_MAX)
+    {
+        // timer was configured explixitly in config structure, we dont need to do it here
+        goto timer_avail;
+    }
+
+    // try to find free timer
+    timer_config_t temp;
+    for (int i = 0; i < 1; i++)
+    {
+        for (int j = 0; j < 1; j++)
+        {
+            timer_get_config((timer_group_t)i, (timer_idx_t)j, &temp);
+            if (temp.alarm_en == TIMER_ALARM_DIS)
+            {
+                // if the alarm is disabled, chances are no other dendostepper instance is using it
+                conf.timer_group = (timer_group_t)i;
+                conf.timer_idx = (timer_idx_t)j;
+                goto timer_avail;
+            }
+        }
+    }
+
+    // if we got here it means that there isnt any free timer available
+    STEP_LOGE("DendoStepper", "No free timer available, this stepper wont work");
+    return;
+
+timer_avail:
+    ESP_ERROR_CHECK(timer_init(conf.timer_group, conf.timer_idx, &timer_conf));                   // init the timer
+    ESP_ERROR_CHECK(timer_set_counter_value(conf.timer_group, conf.timer_idx, 0));                // set it to 0
+    ESP_ERROR_CHECK(timer_isr_callback_add(conf.timer_group, conf.timer_idx, xISRwrap, this, 0)); // add callback fn to run when alarm is triggrd
+}
+
+esp_err_t DendoStepper::runPos(int32_t relative)
+{
+    if (!relative) // why would u call it with 0 wtf
+        return ESP_ERR_NOT_SUPPORTED;
+    if (ctrl.status > IDLE)
+    { // we are running, we need to adjust steps accordingly, for now just stop the movement
+        STEP_LOGW("DendoStepper", "Finising previous move, this command will be ignored");
+        return ESP_ERR_NOT_SUPPORTED;
+    }
+
+    if (ctrl.status == DISABLED) // if motor is disabled, enable it
+        enableMotor();
+    ctrl.status = ACC;
+    setDir(relative < 0); // set CCW if <0, else set CW
+    currentPos += relative;
+    calc(abs(relative));                                                                         // calculate velocity profile
+    ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
+    ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx));                              // start the timer
+
+    return ESP_OK;
+}
+
+esp_err_t DendoStepper::runPosMm(int32_t relative)
+{
+    if (ctrl.stepsPerMm == 0)
+    {
+        STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot move!");
+    }
+    return runPos(relative * ctrl.stepsPerMm);
+}
+
+esp_err_t DendoStepper::runAbs(uint32_t position)
+{
+    if (getState() > IDLE) // we are already moving, so stop it
+        stop();
+    while (getState() > IDLE)
+    {
+        // waiting for idle, watchdog should take care of inf loop if it occurs
+        vTaskDelay(1);
+    } // shouldnt take long tho
+
+    if (position == currentPos) // we cant go anywhere
+        return 0;
+
+    int32_t relativeSteps = 0;
+    relativeSteps = (int32_t)position - currentPos;
+
+    ESP_LOGI("DendoStepper", "Cur: %llu move %d", currentPos, relativeSteps);
+    return runPos(relativeSteps); // run to new position
+}
+
+esp_err_t DendoStepper::runAbsMm(uint32_t position)
+{
+    if (ctrl.stepsPerMm == 0)
+    {
+        STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot move!");
+    }
+    return runAbs(position * ctrl.stepsPerMm);
+}
+
+void DendoStepper::setSpeed(uint32_t speed, uint16_t accT, uint16_t decT)
+{
+    ctrl.speed = speed;
+    ctrl.acc = ctrl.speed / (accT / 4000.0);
+    ctrl.dec = ctrl.speed / (decT / 4000.0);
+    STEP_LOGI("DendoStepper", "Speed set: %d steps/s t+=%d s t-=%d s", speed, accT, decT);
+}
+
+void DendoStepper::setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT)
+{
+    if (ctrl.stepsPerMm == 0)
+    {
+        STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot set the speed!");
+    }
+    ctrl.speed = speed * ctrl.stepsPerMm;
+
+    ctrl.acc = ctrl.speed / (accT / 4000.0);
+    ctrl.dec = ctrl.speed / (decT / 4000.0);
+    STEP_LOGI("DendoStepper", "Speed set: v=%d mm/s t+=%d s t-=%d s", speed, accT, decT);
+}
+
+void DendoStepper::setStepsPerMm(uint16_t steps)
+{
+    ctrl.stepsPerMm = steps;
+}
+
+uint16_t DendoStepper::getStepsPerMm()
+{
+    return ctrl.stepsPerMm;
+}
+
+uint8_t DendoStepper::getState()
+{
+    return ctrl.status;
+}
+
+uint64_t DendoStepper::getPosition()
+{
+    return currentPos;
+}
+
+uint64_t DendoStepper::getPositionMm()
+{
+    return getPosition() / ctrl.stepsPerMm;
+}
+
+void DendoStepper::resetAbsolute()
+{
+    currentPos = 0;
+}
+
+void DendoStepper::runInf(bool direction)
+{
+    if (ctrl.status > IDLE)
+    {
+        STEP_LOGE("DendoStepper", "Motor is moving, this command will be ignored");
+        return;
+    }
+    if (ctrl.status == DISABLED)
+    {
+        enableMotor();
+    }
+    ctrl.runInfinite = true;
+    setDir(direction);
+    calc(UINT32_MAX);
+    ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
+    ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx));                              // start the timer
+}
+
+uint16_t DendoStepper::getSpeed()
+{
+    return ctrl.speed;
+}
+
+float DendoStepper::getAcc()
+{
+    return ctrl.acc;
+}
+
+void DendoStepper::stop()
+{
+    if (ctrl.status <= IDLE)
+    {
+        return;
+    }
+    ctrl.runInfinite = false;
+    timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
+    ctrl.status = IDLE;
+    ctrl.stepCnt = 0;
+    gpio_set_level((gpio_num_t)conf.stepPin, 0);
+}
+
+// PRIVATE definitions
+
+void DendoStepper::setEn(bool state)
+{
+    ESP_ERROR_CHECK(gpio_set_level((gpio_num_t)conf.enPin, state));
+}
+
+void DendoStepper::setDir(bool state)
+{
+    ctrl.dir = state;
+    ESP_ERROR_CHECK(gpio_set_level((gpio_num_t)conf.dirPin, state));
+}
+
+/* Timer callback, used for generating pulses and calculating speed profile in real time */
+bool DendoStepper::xISR()
+{
+    GPIO.out_w1ts = (1ULL << conf.stepPin);
+    // add and substract one step
+
+    ctrl.stepCnt++;
+
+    // we are done
+    if (ctrl.stepsToGo == ctrl.stepCnt && !ctrl.runInfinite)
+    {
+        timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
+        ctrl.status = IDLE;
+        ctrl.stepCnt = 0;
+        return 0;
+    }
+
+    if (ctrl.stepCnt > 0 && ctrl.stepCnt < ctrl.accEnd)
+    { // we are accelerating
+        ctrl.currentSpeed += ctrl.accInc;
+        ctrl.status = ACC; // we are accelerating, note that*/
+    }
+    else if (ctrl.stepCnt > ctrl.coastEnd && !ctrl.runInfinite)
+    { // we must be deccelerating then
+        ctrl.currentSpeed -= ctrl.decInc;
+        ctrl.status = DEC; // we are deccelerating
+    }
+    else
+    {
+        ctrl.currentSpeed = ctrl.targetSpeed;
+        ctrl.status = COAST; // we are coasting
+    }
+
+    ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
+    // set alarm to calculated interval and disable pin
+    GPIO.out_w1tc = (1ULL << conf.stepPin);
+    timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval);
+    return 1;
+}
+
+void DendoStepper::calc(uint32_t targetSteps)
+{
+
+    ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
+
+    ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
+
+    if (targetSteps < (ctrl.decSteps + ctrl.accSteps))
+    {
+        ESP_LOGI("Dendostepper", "Computing new speed");
+
+        ctrl.speed = sqrt(2 * targetSteps * ((ctrl.dec * ctrl.acc) / (ctrl.dec + ctrl.acc)));
+        ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
+        ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
+    }
+
+    ctrl.accEnd = ctrl.accSteps;
+    ctrl.coastEnd = targetSteps - ctrl.decSteps;
+    ctrl.targetSpeed = ctrl.speed;
+
+    ctrl.accInc = ctrl.targetSpeed / (double)ctrl.accSteps;
+    ctrl.decInc = ctrl.targetSpeed / (double)ctrl.decSteps;
+
+    ctrl.currentSpeed = ctrl.accInc;
+
+    ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
+    ctrl.stepsToGo = targetSteps;
+
+    STEP_LOGI("calc", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u", ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
+}
diff --git a/components/DendoStepper/LICENSE b/components/DendoStepper/LICENSE
new file mode 100644
index 0000000..f288702
--- /dev/null
+++ b/components/DendoStepper/LICENSE
@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
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+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
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+the GNU General Public License is intended to guarantee your freedom to
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+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
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+price.  Our General Public Licenses are designed to make sure that you
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diff --git a/components/DendoStepper/README.md b/components/DendoStepper/README.md
new file mode 100644
index 0000000..1ab6242
--- /dev/null
+++ b/components/DendoStepper/README.md
@@ -0,0 +1,139 @@
+# DendoStepper
+
+Work in progress, maybe unstable. Opening issues is more than welcome.  
+This library takes care of pulse generating for stepper motor drivers with STEP/DIR interface. Pulse generating utilizes general purpose timers to achieve some usable accuracy and smoothness.  
+Currently supports only linear acceleration and deceleration.
+
+### Known limitations
+- maximum number of controlled stepper motors is 4, this is limited by number of general purpose timers
+- If the motor is moving, it is not possible to move it to another direction.
+
+## Usage
+
+```c++
+typedef struct
+{
+    uint8_t stepPin;           /** step signal pin */
+    uint8_t dirPin;            /** dir signal pin */
+    uint8_t enPin;             /** enable signal pin */
+    timer_group_t timer_group; /** timer group, useful if we are controlling more than 2 steppers */
+    timer_idx_t timer_idx;     /** timer index, useful if we are controlling 2steppers */
+    microStepping_t miStep;    /** microstepping configured on driver - used in distance calculation */
+    float stepAngle;           /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */
+} DendoStepper_config_t;
+
+enum microStepping_t
+{
+    MICROSTEP_1 = 0x1,
+    MICROSTEP_2,
+    MICROSTEP_4 = 0x4,
+    MICROSTEP_8 = 0x8,
+    MICROSTEP_16 = 0x10,
+    MICROSTEP_32 = 0x20,
+    MICROSTEP_64 = 0x40,
+    MICROSTEP_128 = 0x80,
+    MICROSTEP_256 = 0x100,
+};
+
+```  
+Configuration struct, can be allocated on stack or heap.
+
+```c++
+void init();
+```  
+Initializes GPIO and Timer peripherals, registers ISR. Expects populated config struct is alreay passed to the class using config()  
+
+```c++
+void config(DendoStepper_config_t* config);
+```
+Configures the class as per passed config struct pointer.  
+
+```c++
+void setStepsPerMm(uint16_t steps);
+uint16_t getStepsPerMm();
+```
+Sets or gets steps needed to move one millimiter, useful if stepper is moving along linear axis.  
+
+```c++
+void setSpeed(uint16_t speed,uint16_t accT, uint16_t decT);
+uint16_t getSpeed();
+float getAcc();
+```
+Sets maximum speed in steps per second, acceleration and deceleration time in milliseconds.  
+Gets speed in steps per second  
+Gets acceleration in steps per second per second
+
+```c++
+void setSpeedMm(uint16_t speed,uint16_t accT, uint16_t decT);
+```
+Sets maximum speed in mm/s, acceleration and deceleration time in milliseconds. Expects already defined steps per millimeter with setStepsPerMm()  
+
+```c++
+void runPos(int32_t relative);
+```
+Runs motor to position relative from current position in steps, respecting constraints set with setSpeed()  
+
+```c++
+void runPosMm(int32_t relative);
+```
+Runs motor to position relative from current position in millimeters, respecting constraints set with setSpeed()  
+Expects already defined steps per millimeter with setStepsPerMm()  
+
+```c++
+ bool runAbsolute(uint32_t position);
+```
+Runs motor in absolute coordinate plane. Unit: steps (should be constrained with home switch)  
+
+```c++
+ bool runAbsoluteMm(uint32_t position);
+```
+Runs motor in absolute coordinate plane. Unit: millimeters (should be constrained with home switch)  
+Expects already defined steps per millimeter with setStepsPerMm()  
+
+```c++
+ bool runInf(bool direction);
+```
+Runs motor infintely in desired direction with constrains set using setSpeed().  
+
+```c++
+void disableMotor();
+void enableMotor();
+```
+Disables and enables motor via EN pin
+
+```c++
+uint8_t getState();
+
+enum motor_status{
+    DISABLED,
+    IDLE,
+    ACC,
+    COAST,
+    DEC,
+};
+```
+Returns current state of motor, return type is enum motor_status  
+
+
+```c++
+void resetAbsolute();
+```
+Resets absolute position to 0. Called for ex. when endswitch is hit.  
+
+```c++
+void getPosition();
+```
+Gets current position in absolute coordinate plane in steps.  
+
+```c++
+void getPositionMm();
+```
+Gets current position in absolute coordinate plane in millimeters.  
+Expects already defined steps per millimeter with setStepsPerMm()  
+
+```c++
+void stop();
+```
+Stops the motor dead on the spot. No deceleration is performed this way. Eg. e-stop.  
+
+
diff --git a/components/DendoStepper/component.mk b/components/DendoStepper/component.mk
new file mode 100644
index 0000000..e69de29
diff --git a/components/DendoStepper/example/.gitignore b/components/DendoStepper/example/.gitignore
new file mode 100644
index 0000000..51c9513
--- /dev/null
+++ b/components/DendoStepper/example/.gitignore
@@ -0,0 +1,3 @@
+build/
+sdkconfig
+sdkconfig.old
\ No newline at end of file
diff --git a/components/DendoStepper/example/CMakeLists.txt b/components/DendoStepper/example/CMakeLists.txt
new file mode 100644
index 0000000..89dea37
--- /dev/null
+++ b/components/DendoStepper/example/CMakeLists.txt
@@ -0,0 +1,9 @@
+# For more information about build system see
+# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+set(EXTRA_COMPONENT_DIRS "../")
+project(example)
\ No newline at end of file
diff --git a/components/DendoStepper/example/README.md b/components/DendoStepper/example/README.md
new file mode 100644
index 0000000..455eb90
--- /dev/null
+++ b/components/DendoStepper/example/README.md
@@ -0,0 +1,32 @@
+# _Sample project_
+
+(See the README.md file in the upper level 'examples' directory for more information about examples.)
+
+This is the simplest buildable example. The example is used by command `idf.py create-project`
+that copies the project to user specified path and set it's name. For more information follow the [docs page](https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html#start-a-new-project)
+
+
+
+## How to use example
+We encourage the users to use the example as a template for the new projects.
+A recommended way is to follow the instructions on a [docs page](https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html#start-a-new-project).
+
+## Example folder contents
+
+The project **sample_project** contains one source file in C language [main.c](main/main.c). The file is located in folder [main](main).
+
+ESP-IDF projects are built using CMake. The project build configuration is contained in `CMakeLists.txt`
+files that provide set of directives and instructions describing the project's source files and targets
+(executable, library, or both). 
+
+Below is short explanation of remaining files in the project folder.
+
+```
+├── CMakeLists.txt
+├── main
+│   ├── CMakeLists.txt
+│   └── main.c
+└── README.md                  This is the file you are currently reading
+```
+Additionally, the sample project contains Makefile and component.mk files, used for the legacy Make based build system. 
+They are not used or needed when building with CMake and idf.py.
diff --git a/components/DendoStepper/example/main/CMakeLists.txt b/components/DendoStepper/example/main/CMakeLists.txt
new file mode 100644
index 0000000..0ce183c
--- /dev/null
+++ b/components/DendoStepper/example/main/CMakeLists.txt
@@ -0,0 +1,3 @@
+idf_component_register(SRCS "main.cpp"
+                    INCLUDE_DIRS "."
+                    REQUIRES DendoStepper freertos)
\ No newline at end of file
diff --git a/components/DendoStepper/example/main/main.cpp b/components/DendoStepper/example/main/main.cpp
new file mode 100644
index 0000000..774b458
--- /dev/null
+++ b/components/DendoStepper/example/main/main.cpp
@@ -0,0 +1,49 @@
+#include <stdio.h>
+#include "DendoStepper.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+
+DendoStepper step;
+DendoStepper step1;
+
+extern "C" void app_main(void)
+{
+    DendoStepper_config_t step_cfg = {
+        .stepPin = 16,
+        .dirPin = 17,
+        .enPin = 15,
+        .timer_group = TIMER_GROUP_0,
+        .timer_idx = TIMER_0,
+        .miStep = MICROSTEP_32,
+        .stepAngle = 1.8};
+
+    DendoStepper_config_t step1_cfg = {
+        .stepPin = 18,
+        .dirPin = 19,
+        .enPin = 20,
+        .timer_group = TIMER_GROUP_0,
+        .timer_idx = TIMER_1,
+        .miStep = MICROSTEP_32,
+        .stepAngle = 1.8};
+
+    step.config(&step_cfg);
+    step1.config(&step1_cfg);
+
+    step.init();
+    step1.init();
+
+    step.setSpeed(10000, 1000, 1000);
+    step1.setSpeed(20000, 1000, 1000);
+
+    // step.runInf(true);
+    step.setStepsPerMm(10);
+
+    while (1)
+    {
+        step.runPosMm(500);
+        step1.runPos(10000);
+        vTaskDelay(1000);
+        // step.runAbs(5000);
+    }
+}
\ No newline at end of file
diff --git a/components/DendoStepper/include/DendoStepper.h b/components/DendoStepper/include/DendoStepper.h
new file mode 100644
index 0000000..9846412
--- /dev/null
+++ b/components/DendoStepper/include/DendoStepper.h
@@ -0,0 +1,275 @@
+#pragma once
+
+/*  ESP-IDF library for bipolar stepper motor drivers with STEP/DIR interface
+    Copyright (C) 2022 Denis Voltmann
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+*/
+
+#ifndef DENDOSTEPPER_H
+#define DENDOSTEPPER_H
+
+#include "stdint.h"
+#include "stdio.h"
+#include <cstring>
+#include "driver/timer.h"
+#include "driver/gpio.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_timer.h"
+#include "math.h"
+
+//#define STEP_DEBUG
+
+#define NS_TO_T_TICKS(x) (x)
+#define TIMER_F 1000000ULL
+#define TICK_PER_S TIMER_F
+
+enum motor_status
+{
+    DISABLED,
+    IDLE,
+    ACC,
+    COAST,
+    DEC
+};
+
+enum dir
+{
+    CW,
+    CCW
+};
+
+enum microStepping_t
+{
+    MICROSTEP_1 = 0x1,
+    MICROSTEP_2,
+    MICROSTEP_4 = 0x4,
+    MICROSTEP_8 = 0x8,
+    MICROSTEP_16 = 0x10,
+    MICROSTEP_32 = 0x20,
+    MICROSTEP_64 = 0x40,
+    MICROSTEP_128 = 0x80,
+    MICROSTEP_256 = 0x100,
+};
+
+/**
+ * @brief Configuration structure
+ */
+typedef struct
+{
+    uint8_t stepPin;           /** step signal pin */
+    uint8_t dirPin;            /** dir signal pin */
+    uint8_t enPin;             /** enable signal pin */
+    timer_group_t timer_group; /** timer group, useful if we are controlling more than 2 steppers */
+    timer_idx_t timer_idx;     /** timer index, useful if we are controlling 2steppers */
+    microStepping_t miStep;    /** microstepping configured on driver - used in distance calculation */
+    float stepAngle;           /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */
+} DendoStepper_config_t;
+
+typedef struct
+{
+    uint32_t stepInterval = 40000; // step interval in ns/25
+    double targetSpeed = 0;        // target speed in steps/s
+    double currentSpeed = 0;
+    double accInc = 0;
+    double decInc = 0;
+    uint32_t stepCnt = 0;   // step counter
+    uint32_t accEnd;        // when to end acc and start coast
+    uint32_t coastEnd;      // when to end coast and start decel
+    uint32_t stepsToGo = 0; // steps we need to take
+    float speed = 100;      // speed in rad/s
+    float acc = 100;        // acceleration in rad*second^-2
+    float dec = 100;        // decceleration in rad*second^-2
+    uint32_t accSteps = 0;
+    uint32_t decSteps = 0;
+    uint8_t status = DISABLED;
+    bool dir = CW;
+    bool runInfinite = false;
+    uint16_t stepsPerRot;    // steps per one revolution, 360/stepAngle * microstep
+    uint16_t stepsPerMm = 0; /** Steps per one milimiter, if the motor is performing linear movement */
+} ctrl_var_t;
+
+class DendoStepper
+{
+private:
+    DendoStepper_config_t conf;
+    ctrl_var_t ctrl;
+    esp_timer_handle_t dyingTimer;
+    TaskHandle_t enTask;
+    uint64_t currentPos = 0; // absolute position
+    bool timerStarted = 0;
+
+    /** @brief PRIVATE: Step interval calculation
+     *  @param speed maximum movement speed
+     *  @param accTimeMs acceleration time in ms
+     *  @param target target position
+     */
+    void calc(uint32_t);
+
+    /** @brief sets En GPIO
+     *  @param state 0-LOW,1-HIGH
+     *  @return void
+     */
+    void setEn(bool);
+
+    /** @brief sets Dir GPIO
+     *  @param state 0-CW 1-CCW
+     */
+    void setDir(bool);
+
+    /** @brief static wrapper for ISR function
+     *  @param _this DendoStepper* this pointer
+     *  @return bool
+     */
+    static bool xISRwrap(void *_this)
+    {
+        return static_cast<DendoStepper *>(_this)->xISR();
+    }
+
+    /** @brief enableMotor wrapper
+     */
+    static void _disableMotor(void *_this)
+    {
+        static_cast<DendoStepper *>(_this)->disableMotor();
+    }
+
+    bool xISR();
+
+public:
+    /** @brief Costructor - conf variables to be passed later
+     */
+    DendoStepper();
+
+    /** @brief Configuration of library, used with constructor w/o params
+     *  @param config DendoStepper_config_t structure pointer - can be freed after this call
+     */
+    void config(DendoStepper_config_t *config);
+
+    /** @brief initialize GPIO and Timer peripherals
+     *  @param stepP step pulse pin
+     *  @param dirP direction signal pin
+     *  @param enP enable signal Pin
+     *  @param group timer group to use (0 or 1)
+     *  @param index which timer to use (0 or 1)
+     *  @param microstepping microstepping performed by the driver, used for more accuracy
+     *  @param stepsPerRot how many steps it takes for the motor to move 2Pi rads. this can be also used instead of microstepping parameter
+     */
+    void init(uint8_t, uint8_t, uint8_t, timer_group_t, timer_idx_t, microStepping_t microstep, uint16_t stepsPerRot);
+
+    /** @brief initialize GPIO and Timer peripherals, class must be configured beforehand with @attention config()
+     */
+    void init();
+
+    /** @brief runs motor to relative position in steps
+     *  @param relative number of steps to run, negative is reverse
+     */
+    esp_err_t runPos(int32_t relative);
+
+    /** @brief runs motor to relative position in mm
+     *  @param relative number of mm to run, negative is reverse
+     */
+    esp_err_t runPosMm(int32_t relative);
+
+    /** @brief run motor to position in absolute coordinates (steps)
+     *  @param postition absolute position in steps from home position (must be positive);
+     *  @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving
+     */
+    esp_err_t runAbs(uint32_t position);
+
+    /** @brief run motor to position in absolute coordinates (millimiters)
+     *  @param postition absolute position in mm from home position (must be positive);
+     *  @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving
+     */
+    esp_err_t runAbsMm(uint32_t position);
+
+    /** @brief sets motor speed
+     *  @param speed speed in steps per second
+     *  @param accT acceleration time in ms
+     *  @param decT deceleration time in ms
+     */
+    void setSpeed(uint32_t speed, uint16_t accT, uint16_t decT);
+
+    /** @brief sets motor speed and accel in millimeters/second
+     *  @param speed speed mm*s^-1
+     *  @param accT acceleration time in ms
+     *  @param accT deceleration time in ms
+     */
+    void setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT);
+
+    /**
+     * @brief Set steps per 1 mm of linear movement
+     *
+     * @param steps steps needed to move one millimiter
+     */
+    void setStepsPerMm(uint16_t steps);
+
+    /**
+     * @brief get steps per 1mm settings
+     *
+     */
+    uint16_t getStepsPerMm();
+
+    /** @brief set EN pin 1, stops movement
+     */
+    void disableMotor();
+
+    /** @brief set EN pin to 0, enables movement
+     */
+    void enableMotor();
+
+    /** @brief returns current state
+     *  @return motor_status enum
+     */
+    uint8_t getState();
+
+    /** @brief run motor to position in absolute coordinates (millimiters)
+     *  @param postition absolute position in steps from home position (must be positive);
+     *  @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving
+     */
+    esp_err_t runAbsoluteMm(uint32_t position);
+
+    /** @brief returns current absolute position
+     *  @return current absolute postion in steps
+     */
+    uint64_t getPosition();
+
+    /** @brief returns current absolute position
+     *  @return current absolute postion in steps
+     */
+    uint64_t getPositionMm();
+
+    /** @brief resets absolute pos to 0
+     */
+    void resetAbsolute();
+
+    /** @brief
+     *
+     */
+    void runInf(bool direction);
+
+    /** @brief returns current speed in steps per second
+     */
+    uint16_t getSpeed();
+
+    /** @brief returns current acceleration time in ms
+     */
+    float getAcc();
+
+    /** @brief stops the motor dead, but stays enabled
+     */
+    void stop();
+};
+
+#endif
\ No newline at end of file
diff --git a/docs/MKS SERVO28C-servo-driver.pdf b/docs/MKS SERVO28C-servo-driver.pdf
new file mode 100644
index 0000000..dfa885e
Binary files /dev/null and b/docs/MKS SERVO28C-servo-driver.pdf differ