Remora - ethernet NVEM cnc board

void makeSteps()
{
    static int8_t i;
    static int32_t stepNow;

    // loop through the step generators
    for (i = 0; i <= JOINTS; i++)
    {
        stepNow = 0;
        isEnabled[i] = ((rxData.jointEnable & (1 << i)) != 0);

        if (isEnabled[i] == true)
        {
            frequencyCommand[i] = rxData.jointFreqCmd[i];
            DDSaddValue[i] = frequencyCommand[i] * frequencyScale;
            stepNow = DDSaccumulator[i];
            DDSaccumulator[i] += DDSaddValue[i];
            stepNow ^= DDSaccumulator[i];
            stepNow &= (1L << STEPBIT);
            rawCount[i] = DDSaccumulator[i] >> STEPBIT;

            if (DDSaddValue[i] > 0)
            {
                isForward[i] = true;
            }
            else
            {
                isForward[i] = false;
            }

            if (stepNow)
            {
                // GPIO_PinWrite(STEP_PORT, dirPin[i], isForward[i]);
                if (isForward[i] == true) {
                    base->DR_SET = (1<<dirPin[i]);
                } else {
                    base->DR_CLEAR = (1<<dirPin[i]);
                }
                // GPIO_PinWrite(STEP_PORT, stepPin[i], 1);
                base->DR_SET = (1<<stepPin[i]);
                txData.jointFeedback[i] = DDSaccumulator[i];
                isStepping[i] = true;
            }
        }
    }
}


void resetSteps()
{
    static int8_t i;

    for (i = 0; i <= JOINTS; i++)
    {
        if (isStepping[i])
        {
            // GPIO_PinWrite(STEP_PORT, stepPin[i], 0);
            base->DR_CLEAR = (1<<stepPin[i]);
        }
    }
}

--- a/remora-rt1052/source/baseThread.c
+++ b/remora-rt1052/source/baseThread.c
@@ -93,8 +93,8 @@ void updateBaseThread()
 
 void makeSteps()
 {
-    int8_t i;
-    int32_t stepNow;
+    static int8_t i;
+    static int32_t stepNow;
 
     // loop through the step generators
     for (i = 0; i <= JOINTS; i++)
@@ -123,8 +123,12 @@ void makeSteps()
 
             if (stepNow)
             {
-                GPIO_PinWrite(STEP_PORT, dirPin[i], isForward[i]);
-                GPIO_PinWrite(STEP_PORT, stepPin[i], 1);
+                if (isForward[i] == true) {
+                    STEP_PORT->DR_SET = (1<<dirPin[i]);
+                } else {
+                    STEP_PORT->DR_CLEAR = (1<<dirPin[i]);
+                }
+                STEP_PORT->DR_SET = (1<<stepPin[i]);
                 txData.jointFeedback[i] = DDSaccumulator[i];
                 isStepping[i] = true;
             }
@@ -135,13 +139,13 @@ void makeSteps()
 
 void resetSteps()
 {
-    int8_t i;
+    static int8_t i;
 
     for (i = 0; i <= JOINTS; i++)
     {
         if (isStepping[i])
         {
-            GPIO_PinWrite(STEP_PORT, stepPin[i], 0);
+            STEP_PORT->DR_CLEAR = (1<<stepPin[i]);
         }
     }
 }
diff --git a/remora-rt1052/source/configuration.h b/remora-rt1052/source/configuration.h
index 9482d64..5d7d9a2 100644
--- a/remora-rt1052/source/configuration.h
+++ b/remora-rt1052/source/configuration.h
@@ -1,8 +1,8 @@
 #ifndef CONFIGURATION_H
 #define CONFIGURATION_H
 
-#define PRU_BASEFREQ        40000            // PRU Base thread ISR update frequency (hz)
-#define PRU_SERVOFREQ       1000            // PRU Servo thread ISR update freqency (hz)
+#define PRU_BASEFREQ        60000            // PRU Base thread ISR update frequency (hz)
+#define PRU_SERVOFREQ       10            // PRU Servo thread ISR update freqency (hz)
 
 #define STEPBIT             22                // bit location in DDS accum
 #define STEP_MASK           (1L<<STEPBIT)
diff --git a/remora-rt1052/source/ethernet.c b/remora-rt1052/source/ethernet.c
index bb9d591..866b88e 100644
--- a/remora-rt1052/source/ethernet.c
+++ b/remora-rt1052/source/ethernet.c
@@ -127,13 +127,11 @@ void udp_data_callback(void *arg, struct udp_pcb *upcb, struct pbuf *p, const ip
 
         // ensure an atomic access to the rxBuffer
         // disable thread interrupts
+
         __disable_irq();
 
         // then move the data
-        for (int i = 0; i < BUFFER_SIZE; i++)
-        {
-            rxData.rxBuffer[i] = rxBuffer.rxBuffer[i];
-        }
+        memcpy(rxData.rxBuffer, rxBuffer.rxBuffer, BUFFER_SIZE);
 
         // re-enable thread interrupts
         __enable_irq();
diff --git a/remora-rt1052/source/remora-rt1052.c b/remora-rt1052/source/remora-rt1052.c
index 549d54d..74cc253 100644
--- a/remora-rt1052/source/remora-rt1052.c
+++ b/remora-rt1052/source/remora-rt1052.c
@@ -207,6 +207,10 @@ int main(void)
         }
 
         EthernetTasks();
+        readInputs();
+        setOutputs();
+
+
     }
 }
 
diff --git a/remora-rt1052/source/remora.h b/remora-rt1052/source/remora.h
index 7f9e1b5..00af8b9 100644
--- a/remora-rt1052/source/remora.h
+++ b/remora-rt1052/source/remora.h
@@ -5,6 +5,8 @@
 
 #pragma pack(push, 1)
 
+
+
 typedef union
 {
   // this allow structured access to the incoming SPI data without having to move it
diff --git a/remora-rt1052/source/servoThread.c b/remora-rt1052/source/servoThread.c
index 49648f2..f923e4a 100644
--- a/remora-rt1052/source/servoThread.c
+++ b/remora-rt1052/source/servoThread.c
@@ -136,10 +136,10 @@ void configServoThread()
 void updateServoThread()
 {
     monitorEthernet();
-    readInputs();
-    setOutputs();
+    //readInputs();
+    //setOutputs();
     updatePWM();
-    updateNVMPG();
+    //updateNVMPG();
 }