diff --git a/bindings.cpp b/bindings.cpp
index 85ee1e4..8ffa090 100644
--- a/bindings.cpp
+++ b/bindings.cpp
@@ -121,9 +121,9 @@ PYBIND11_MODULE(pyCandle, m)
 		.value("motorKt_c", mab::Md80Reg_E::motorKt_c)
 		.value("motorIMax", mab::Md80Reg_E::motorIMax)
 		.value("motorGearRatio", mab::Md80Reg_E::motorGearRatio)
-		.value("motorTorgueBandwidth", mab::Md80Reg_E::motorTorgueBandwidth)
+		.value("motorTorqueBandwidth", mab::Md80Reg_E::motorTorqueBandwidth)
 		.value("motorFriction", mab::Md80Reg_E::motorFriction)
-		.value("motorStiction", mab::Md80Reg_E::motorStiction)
+		.value("motorStriction", mab::Md80Reg_E::motorStriction)
 		.value("motorResistance", mab::Md80Reg_E::motorResistance)
 		.value("motorInductance", mab::Md80Reg_E::motorInductance)
 		.value("motorKV", mab::Md80Reg_E::motorKV)
@@ -155,19 +155,12 @@ PYBIND11_MODULE(pyCandle, m)
 		.value("mainEncoderPosition", mab::Md80Reg_E::mainEncoderPosition)
 		.value("motorTorque", mab::Md80Reg_E::motorTorque)
 
-		.value("homingMode", mab::Md80Reg_E::homingMode)
-		.value("homingMaxTravel", mab::Md80Reg_E::homingMaxTravel)
-		.value("homingVelocity", mab::Md80Reg_E::homingVelocity)
-		.value("homingTorque", mab::Md80Reg_E::homingTorque)
-		.value("homingPositionDeviationTrigger", mab::Md80Reg_E::homingPositionDeviationTrigger)
-
 		.value("runSaveCmd", mab::Md80Reg_E::runSaveCmd)
 		.value("runTestMainEncoderCmd", mab::Md80Reg_E::runTestMainEncoderCmd)
 		.value("runTestOutputEncoderCmd", mab::Md80Reg_E::runTestOutputEncoderCmd)
 		.value("runCalibrateCmd", mab::Md80Reg_E::runCalibrateCmd)
-		.value("runCalibrateOutpuEncoderCmd", mab::Md80Reg_E::runCalibrateOutpuEncoderCmd)
+		.value("runCalibrateOutputEncoderCmd", mab::Md80Reg_E::runCalibrateOutputEncoderCmd)
 		.value("runCalibratePiGains", mab::Md80Reg_E::runCalibratePiGains)
-		.value("runHoming", mab::Md80Reg_E::runHoming)
 		.value("runRestoreFactoryConfig", mab::Md80Reg_E::runRestoreFactoryConfig)
 		.value("runReset", mab::Md80Reg_E::runReset)
 		.value("runClearWarnings", mab::Md80Reg_E::runClearWarnings)
@@ -205,6 +198,8 @@ PYBIND11_MODULE(pyCandle, m)
 		.value("targetVelocity", mab::Md80Reg_E::targetVelocity)
 		.value("targetTorque", mab::Md80Reg_E::targetTorque)
 
+		.value("userGpioConfiguration", mab::Md80Reg_E::userGpioConfiguration)
+
 		.value("reverseDirection", mab::Md80Reg_E::reverseDirection)
 
 		.value("shuntResistance", mab::Md80Reg_E::shuntResistance)
@@ -224,7 +219,6 @@ PYBIND11_MODULE(pyCandle, m)
 		.value("bridgeErrors", mab::Md80Reg_E::bridgeErrors)
 		.value("hardwareErrors", mab::Md80Reg_E::hardwareErrors)
 		.value("communicationErrors", mab::Md80Reg_E::communicationErrors)
-		.value("homingErrors", mab::Md80Reg_E::homingErrors)
 		.value("motionErrors", mab::Md80Reg_E::motionErrors)
 		.export_values();
 
@@ -256,7 +250,6 @@ PYBIND11_MODULE(pyCandle, m)
 		.def_readwrite("bridgeErrors", &mab::regRO_st::bridgeErrors)
 		.def_readwrite("hardwareErrors", &mab::regRO_st::hardwareErrors)
 		.def_readwrite("communicationErrors", &mab::regRO_st::communicationErrors)
-		.def_readwrite("homingErrors", &mab::regRO_st::homingErrors)
 		.def_readwrite("motionErrors", &mab::regRO_st::motionErrors)
 		.def_readwrite("shuntResistance", &mab::regRO_st::shuntResistance);
 
@@ -288,10 +281,6 @@ PYBIND11_MODULE(pyCandle, m)
 		.def_readwrite("impedancePdGains", &mab::regRW_st::impedancePdGains)
 		.def_readwrite("velocityPidGains", &mab::regRW_st::velocityPidGains)
 		.def_readwrite("positionPidGains", &mab::regRW_st::positionPidGains)
-		.def_readwrite("homingMode", &mab::regRW_st::homingMode)
-		.def_readwrite("homingMaxTravel", &mab::regRW_st::homingMaxTravel)
-		.def_readwrite("homingVelocity", &mab::regRW_st::homingVelocity)
-		.def_readwrite("homingTorque", &mab::regRW_st::homingTorque)
 		.def_readwrite("positionLimitMax", &mab::regRW_st::positionLimitMax)
 		.def_readwrite("positionLimitMin", &mab::regRW_st::positionLimitMin)
 		.def_readwrite("maxAcceleration", &mab::regRW_st::maxAcceleration)
@@ -310,7 +299,7 @@ PYBIND11_MODULE(pyCandle, m)
 		.def_readwrite("motionMode", &mab::regRW_st::motionMode)
 		.def_readwrite("state", &mab::regRW_st::state)
 		.def_readwrite("reverseDirection", &mab::regRW_st::reverseDirection)
-		.def_readwrite("brakeMode", &mab::regRW_st::brakeMode);
+		.def_readwrite("userGpioConfiguration", &mab::regRW_st::userGpioConfiguration);
 
 	py::class_<mab::ImpedanceControllerGains_t>(m, "ImpedanceControllerGains_t")
 		.def(py::init())
diff --git a/setup.py b/setup.py
index 27e4fda..6f00912 100644
--- a/setup.py
+++ b/setup.py
@@ -80,8 +80,8 @@ def build_extension(self, ext):
 
 setup(
     name="pyCandleMAB",
-    version="1.5.1",
-    author="Piotr Wasilewski",
+    version="1.6.0",
+    author="MAB Robotics",
     author_email="support.md80@mabrobotics.pl",
     description="Python package for controlling MD80-based actuators",
     long_description=long_description,
diff --git a/src/candle b/src/candle
index 060c80c..7411698 160000
--- a/src/candle
+++ b/src/candle
@@ -1 +1 @@
-Subproject commit 060c80c7616b9ef6fcf447d675d23b2dba1b279b
+Subproject commit 741169879b81609aa556d7e8915f9cdd27c79b11