diff --git a/main/config.hpp b/main/config.hpp
index aa7921a..fb1c0be 100644
--- a/main/config.hpp
+++ b/main/config.hpp
@@ -85,7 +85,7 @@ extern "C" {
 //----- stepper config -----
 //--------------------------
 //enable stepper test mode (dont start control and encoder task)
-#define STEPPER_TEST
+//#define STEPPER_TEST
 //pins
 #define STEPPER_STEP_PIN		GPIO_NUM_18    //mos1
 #define STEPPER_DIR_PIN			GPIO_NUM_16     //ST3
diff --git a/main/guide-stepper.cpp b/main/guide-stepper.cpp
index 43d9ffd..f077d3e 100644
--- a/main/guide-stepper.cpp
+++ b/main/guide-stepper.cpp
@@ -23,7 +23,7 @@ extern "C"
 #define STEPPER_TEST_TRAVEL 65     //mm
 
 #define MIN_MM 0
-#define MAX_MM 40 
+#define MAX_MM 50 
 #define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
 #define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
 
@@ -37,7 +37,7 @@ extern "C"
 
 //simulate encoder with reset button to test stepper ctl task
 //note STEPPER_TEST has to be defined as well
-#define STEPPER_SIMULATE_ENCODER
+//#define STEPPER_SIMULATE_ENCODER
 
 //----------------------
 //----- variables ------
@@ -68,6 +68,7 @@ void travelSteps(int stepsTarget){
             remaining = POS_MAX_STEPS - posNow;     //calc remaining distance fom current position to limit
             if (stepsToGo > remaining){             //new distance will exceed limit
                 stepper_setTargetPosSteps(POS_MAX_STEPS);        //move to limit
+				//TODO wait for limit actually reached here?
                 posNow = POS_MAX_STEPS;
                 stepp_direction = false;            //change current direction for next iteration
                 stepsToGo = stepsToGo - remaining;  //decrease target length by already traveled distance
@@ -86,6 +87,7 @@ void travelSteps(int stepsTarget){
             remaining = posNow - POS_MIN_STEPS;
             if (stepsToGo > remaining){
                 stepper_setTargetPosSteps(POS_MIN_STEPS);
+				//TODO wait for limit actually reached here?
                 posNow = POS_MIN_STEPS;
                 stepp_direction = true;
                 stepsToGo = stepsToGo - remaining;
@@ -110,21 +112,6 @@ void travelMm(int length){
 }
 
 
-//define zero/start position 
-//currently crashes into hardware limitation for certain time 
-//TODO: limit switch
-void home() {
-	//TODO add function for this to stepper driver
-    ESP_LOGW(TAG, "auto-home...");
-    //....step.setSpeedMm(100, 500, 10);
-    //....step.runInf(1);
-    vTaskDelay(1500 / portTICK_PERIOD_MS);
-    //....step.stop();
-    //....step.resetAbsolute();
-    ESP_LOGW(TAG, "auto-home finished");
-}
-
-
 //initialize/configure stepper instance
 void init_stepper() {
 	//TODO unnecessary wrapper?
@@ -233,7 +220,7 @@ void task_stepper_ctl(void *pvParameter)
     float potiModifier;
 
     init_stepper();
-    home();
+    stepper_home(MAX_MM);
 
     while(1){
 #ifdef STEPPER_SIMULATE_ENCODER
@@ -271,8 +258,8 @@ void task_stepper_ctl(void *pvParameter)
         }
         else {
             //TODO use encoder queue to only run this check at encoder event?
-            vTaskDelay(2);
+            vTaskDelay(5);
         }
-		vTaskDelay(10 / portTICK_PERIOD_MS);
+		vTaskDelay(5 / portTICK_PERIOD_MS);
     }
 }
diff --git a/main/stepper.cpp b/main/stepper.cpp
index 3f9232c..30fd750 100644
--- a/main/stepper.cpp
+++ b/main/stepper.cpp
@@ -131,6 +131,29 @@ void stepper_setTargetPosMm(uint32_t posMm){
 
 
 
+//======================
+//======== home ========
+//======================
+//define zero/start position 
+//run to limit and define zero/start position. 
+//Currently simply runs stepper for travelMm and bumps into hardware limit
+void stepper_home(uint32_t travelMm){
+	//TODO add timeout, limitswitch...
+	ESP_LOGW(TAG, "initiate auto-home...");
+	posNow = travelMm * STEPPER_STEPS_PER_MM;
+	while (posNow != 0){
+		//reactivate just in case stopped by other call to prevent deadlock
+		if (!timerIsRunning) {
+			stepper_setTargetPosSteps(0);
+		}
+		vTaskDelay(100 / portTICK_PERIOD_MS);
+	}
+	ESP_LOGW(TAG, "finished auto-home");
+	return;
+}
+
+
+
 //========================
 //===== init stepper =====
 //========================
diff --git a/main/stepper.hpp b/main/stepper.hpp
index 3c1947a..20317a6 100644
--- a/main/stepper.hpp
+++ b/main/stepper.hpp
@@ -2,12 +2,21 @@
 
 //init stepper pins and timer
 void stepper_init();
+
+//run to limit and define zero/start position. (busy until finished)
+//Currently simply runs stepper for travelMm and bumps into hardware limit
+void stepper_home(uint32_t travelMm = 60);
+
 //set absolute target position in steps
 void stepper_setTargetPosSteps(uint64_t steps);
+
 //set absolute target position in millimeters
 void stepper_setTargetPosMm(uint32_t posMm);
+
 //set target speed in millimeters per second
 void stepper_setSpeed(uint32_t speedMmPerS);
 
+
+
 //task that periodically logs variables for debugging stepper driver
 void task_stepper_debug(void *pvParameter);