#include <stdlib.h>
#include <math.h>
#include <stdio.h>
#include <errno.h>

#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/usart.h>
#include <libopencm3/stm32/i2c.h>
#include <libopencm3/stm32/st_usbfs.h>
#include <libopencm3/stm32/rtc.h>
#include <libopencm3/stm32/pwr.h>
#include <libopencm3/stm32/f1/bkp.h>
#include <libopencm3/cm3/systick.h>
#include <libopencm3/cm3/nvic.h>
#include <libopencm3/cm3/cortex.h>
#include <libopencm3/cm3/scb.h>
#include <libopencm3/cm3/dwt.h>
#include <libopencm3/usb/usbd.h>
#include <libopencm3/usb/hid.h>
#include <libopencm3/usb/dfu.h>
#include <libopencm3/usb/cdc.h>
#include <id.h>



#define RCC_HSE_CONFIG RCC_CLOCK_HSE8_72MHZ
#define US (72)
#define MS (US  * 1000)
#define HZ (MS * 1000)
#define MS_TO_TICKS(a) ((a) *2)

#define TRACE do { printf("%s:%d\r\n",__FILE__,__LINE__); } while (0)

#define DWT_FREQ 48000000

#define HANDS 2
//#define MOTOR_STEPS (1080 * 2)
//#define MOTOR_STEPS (720 )
#define USTEP 16
#define MOTOR_STEPS (720*USTEP)
#define MOTOR_PHASES 6

#include "board.h"
#include "ring.h"
#include "pins.h"
#include "time_fn.h"
#include "asm_fns.h"
#include "tmc2209.h"

#include "prototypes.h"



extern uint32_t dfu_flag;