i am specialized in hardware and i already wrote (timer and stepper code)
module timer(input clk,input start,input[31:0] reload,output reg count );
reg[31:0]current;
initial begin
current<=0;
current<=reload;
end
always @(posedge clk)begin
if(start==1)begin
current<=current-1;
end
end
always @(posedge clk)begin
if(current==0)begin
count<=1;
end
end
endmodule
module stepper(output reg signal1,output reg signal2,output reg signal3,output reg signal4);
reg cl,s,c;
reg [31:0]r;
timer t(.clk(c),.start(s),.reload(r),.count(c));