void void_GenerateStepInput() // function to generate step input
{

	XTimerPeriod    = 400;
	void_EnableStepperMotor(XAxis);//Enable stepper motor along X Axis
	Timer_B_outputPWMParam GenerateStepInputXParam = {0};//Setting TA2 parameters for step input generation.
	GenerateStepInputXParam.clockSource 		   = TIMER_B_CLOCKSOURCE_SMCLK;
	GenerateStepInputXParam.clockSourceDivider     = TIMER_B_CLOCKSOURCE_DIVIDER_1;
	GenerateStepInputXParam.timerPeriod            = XTimerPeriod;
	GenerateStepInputXParam.compareRegister        = TIMER_B_CAPTURECOMPARE_REGISTER_2;
	GenerateStepInputXParam.compareOutputMode      = TIMER_B_OUTPUTMODE_TOGGLE;
	GenerateStepInputXParam.dutyCycle              = XTimerPeriod/2;
	Timer_B_outputPWM(TIMER_B0_BASE,&GenerateStepInputXParam); //step input generation 
}
void TIMER0_B1_SpecificDistance_ISR(void)
{
	if(++TimerCountX >= NumberofSteps) 
	{
		void_TerminateStepInput();
		Timer_B_disableCaptureCompareInterrupt(TIMER_B0_BASE,TIMER_B_CAPTURECOMPARE_REGISTER_2);
		TimerCountX = 0;
	}

	Timer_B_clearCaptureCompareInterrupt(TIMER_B0_BASE,TIMER_A_CAPTURECOMPARE_REGISTER_2);
}