#pragma once

//init stepper pins and timer
void stepper_init();
//set absolute target position in steps
void stepper_setTargetPosSteps(uint64_t steps);
//set absolute target position in millimeters
void stepper_setTargetPosMm(uint32_t posMm);

//task that periodically logs variables for debugging stepper driver
void task_stepper_debug(void *pvParameter);

//control stepper without timer (software)
void task_stepperCtrlSw(void *pvParameter);
void stepperSw_setTargetSteps(uint64_t target);