diff --git a/application.c b/application.c
index 62b4063..f1d649f 100644
--- a/application.c
+++ b/application.c
@@ -66,6 +66,8 @@ static uint32_t boot_time = 0;
 #define DRV8825_FAULT_PIN PB12 /**< pin pulled low on error (such as over-current) */
 static volatile uint32_t drv8825_steps = 0; /**< incremented with each step */
 static int8_t drv8825_direction = 0; /**< direction of the steps (1 = clockwise, -1 = counter-clockwise) */
+static uint32_t drv8825_goal = 0; /**< number of steps to reach */
+static bool drv8825_reached = false; /**< set when the goal is reached */
 /** maximum speed (in steps/s) before the motor stalls (found empirically)
  *  @note found empirically 300 @ 9V/180mA, 420 @ 12V/150mA
  */
@@ -1154,12 +1156,19 @@ void main(void)
 			}
 		}
 		if (dial_steps) { // hour dial position detected
-			if (drv8825_steps >= DIAL_MIDNIGHT_STEPS) { // wait for dial to reach midnight
-				speed = 0; // stop motor
-				command_speed(&speed); // stop motor
-				dial_steps = 0; // restart position counter
-				puts("midnight reached\n");
-			}
+			puts("dials homed\n");
+			dial_steps = 0; // restart position counter (and clear flag)
+			drv8825_goal = DIAL_MIDNIGHT_STEPS; // go to midnight
+			drv8825_reached = false; // wait until it's reached
+			action = true;
+		}
+		if (drv8825_reached) {
+			puts("midnight reached\n");
+			speed = 0; // stop motor
+			command_speed(&speed); // stop motor
+			drv8825_goal = 0; // disable goal
+			drv8825_reached = false; // clear flag
+			action = true; // redo main loop
 		}
 		if (radio_esp8266_received_len) {
 			if (radio_esp8266_received_len >= 18 && 0 == memcmp((char*)radio_esp8266_received, "Art-Net", 7)) {
@@ -1201,6 +1210,9 @@ void TIM_ISR(DRV8825_STEP_TIMER)(void)
 		if (UINT32_MAX == drv8825_steps) { // underflow
 			drv8825_steps = DIAL_CYCLE_STEPS; // use known circumference
 		}
+		if (!drv8825_reached && drv8825_goal && drv8825_steps == drv8825_goal) { // we reached the set goal
+			drv8825_reached = true; // notify main loop
+		}
 	}
 }