Adding a 'C' axis

I'm having problems trying to add a stepper to my config, 
I would have used pnc config originally to generate my files BUT it didn't work with my 5i22 card - which was all that was available during covid. So my config is a mash of everything I could find on this forum.  Its been working well! 
The two files below are my ini and hal files.

I have a working config running two 8i20 cards driving modified fanuc motors. And haven't been able to get my head around how to control a stepper, there's two steppers included in the firmware and I can't understand how to use them.