Version v1.0.1:

* Improved homing (parallel homing support, better repeatability, better geometric reference point)
 * Improved joint calibration procedure
 * Calibration data can now be stored persistently on the flash memory (no repeated calibration required)
 * Improved logging
 * added PythonAPI to control device easily

New G-Code commands:
 * Enable/Disable motors command, including pose recovery from current position on motor enable
 * Dedicated joint calibration command with save to flash option
 * Set pose command to directly set a target pose for the servo loops, bypassing the motion controller (good for real-time control)

firmware/MotionControllerRP/src/servo_control/homing_controller.h

@@ -0,0 +1,76 @@
+// --------------------------------------------------------------------------------------
+// Project: MicroManipulatorStepper
+// License: MIT (see LICENSE file for full description)
+//          All text in here must be included in any redistribution.
+// Author:  M. S. (diffraction limited)
+// --------------------------------------------------------------------------------------
+
+#pragma once
+
+#include "servo_controller.h"
+
+//*** CLASS *****************************************************************************
+
+/**
+ * This class implements the homing procedure for a single actuator. To allow for parallel 
+ * homing the class is stateful and has an update() function, that can be called togeather
+ * with the updates of other homing controllers inside a loop.
+ * 
+ * Homing procedure:
+ *   1. move axis in negative direction until a physical hard stop is reached
+ *   2. reset encoder period
+ *   3. back off slightly from the hard stop
+ */
+class HomingController {
+  public:
+    HomingController();
+
+    // Starts the homing cycle, motor_velocity can be negative and defines the homing direction.
+    // WARNING: Servo loop updates (including encoder reads) must be completely disabled during homing.
+    bool run_blocking(ServoController* servo_controller, float motor_velocity, float search_range, float current);
+    void start(ServoController* servo_controller, float motor_velocity, float search_range, float current);
+    void update();
+    void finalize();
+
+    bool is_finished() const;
+    bool is_successful() const;
+    float get_home_encoder_angle() const;
+
+  private:
+    void on_endstop_detected();
+    float compute_eval_pos_delta(float pos, float field_angle_delta);
+
+  private:
+    enum class State {
+      Idle,
+      Initializing,
+      Homing,
+      Done
+    };
+
+    ServoController* servo_ctrl;
+
+    // Configuration params
+    float field_velocity = 0.0f; // defines homing direction
+    float field_angle_search_range = 0.0f;
+    float homing_current = 0.0f;
+    float initial_current = 0.0f;
+    float retract_field_velocity = 0.0f;
+
+    // State machine
+    State state = State::Idle;
+    bool search_failed = false;
+
+    // Timing
+    uint64_t last_time = 0;
+
+    // Offsets and tracking
+    float start_field_angle = 0.0f;
+    float field_angle_offset = 0.0f;
+    float last_eval_field_angle_offset = 0.0f;
+    float last_eval_encoder_angle = 0.0f;
+    float eval_field_angle_delta = 0.0f;
+    float expected_encoder_delta = 0.0f;
+
+    float home_encoder_angle = 0.0f;
+};