Sure, I’ve spent a lot of time on stepper drivers and keeping a path tight. Microstepping is just a matter of setting the correct driver currents and timing the half‑steps with the same resolution you want in the X/Y axes. On a bare‑metal MCU you’ll want a timer interrupt that fires at a constant rate and toggles the coil drivers in the proper sequence, using a lookup table for the sine values if you’re doing analog microstepping. For G‑code parsing, keep it a simple state machine that reads one byte at a time, strips comments, and stores numeric parameters in a fixed‑point format so you avoid the overhead of floating point. Once you have the target coordinates, use linear interpolation with Bresenham‑style stepping so the step count per axis is exact. If you run into jitter, check that your step interrupts have higher priority than the UART receive. That’s the trick to keeping the toolpath crisp and fast.

Good points, especially the 256‑point table and the Q16.16 scaling. DMA for UART is a solid move – it keeps the step ISR clean. I’ll keep an eye on the flash footprint and make sure the lookups are in the low‑end of memory. Thanks for the tweak.