So this is looking really good. I took a glance at the code again today and an idea struck me. I think I'd be interested in taking this and replacing the brushless motor control stuff with regular DC motor code, and doing the same again and making a version with stepper motor output. Basically 3 versions of the same program.
My mill currently is being built with brushed DC motors. someday I know I'd like to upgrade to brushless. The way I'm building my servo control boards would also lend themselves to this idea, since I have a separate logic board and a driver board connected by just a 3 wires (enable, direction and PWM) A brushless version of my board would have 4 (enable, U,V and W).

I think I may have a go at trying mikropascal again. I'm curious to see how much its changed since version 2(the last time I looked at it).