Remora - Rpi Software Stepping Using External Microcontroller via SPI

eating a std module Remora PRU - Programmable Realtime Unit   Mbed-OS6   Remora-spi Driver  ## Entering SETUP state 1. Reading json configuration file OK Opening "/fs/config.txt"... OK Json config file lenght = 3836 Closing "/fs/config.txt"...  2. Setting up DMA and threads Initialising SPI1 slave Initialising DMA for SPI 3. Parsing json configuration file Config deserialisation - Deserialization succeeded 4. Config threads Creating thread 40000 Creating thread 1000 Creating thread 57600 5. Loading modules Servo thread object Reset pin Make Reset Pin at pin PC_15 Creating a std module Creating Pin @   port = GPIOC   pin = 15 Base thread object X - Joint 0 step generator Creating a std module Creating Pin @   port = GPIOF   pin = 14 Creating Pin @   port = GPIOF  pin = 13 Creating Pin @   port = GPIOF   pin = 12 Base thread object Y - Joint 1 step generator Creating a std module Creating Pin @   port = GPIOF   pin = 15 Creating Pin @   port = GPIOG   pin = 0 Creating Pin @   port = GPIOG   pin = 1 Base thread object Z - Joint 2 step generator Creating a std module Creating Pin @   port = GPIOG   pin = 5 Creating Pin @   port = GPIOF   pin = 11 Creating Pin @   port = GPIOG   pin = 3 Base thread object E0 - Joint 3 step generator Creating a std module Creating Pin @   port = GPIOA   pin = 0 Creating Pin @   port = GPIOG   pin = 4 Creating Pin @   port = GPIOC   pin = 1 Base thread object E1 - Joint 4 step generator Creating a std module Creating Pin @   port = GPIOG   pin = 2 Creating Pin @   port = GPIOF   pin = 9 Creating Pin @   port = GPIOF   pin = 10 Servo thread object X min Make Digital Input at pin PG_6 Creating a std module   Setting pin as No Pull Creating Pin @   port = GPIOG   pin = 6 Servo thread object X max Make Digital Input at pin PG_9 Creating a std module   Setting pin as No Pull Creating Pin @   port = GPIOG   pin = 9 Servo thread object Y min Make Digital Input at pin PG_10 Creating a std module   Setting pin as No Pull Creating Pin @   port = GPIOG   pin = 10 Servo thread object Y max Make Digital Input at pin PG_11 Creating a std module   Setting pin as No Pull Creating Pin @   port = GPIOG   pin = 11 Servo thread object Z min Make Digital Input at pin PG_12 Creating a std module   Setting pin as No Pull Creating Pin @   port = GPIOG   pin = 12 Servo thread object Z max Make Digital Input at pin PG_13 Creating a std module   Setting pin as No Pull Creating Pin @   port = GPIOG   pin = 13 Servo thread object Probe Make Digital Input at pin PC_5 Creating a std module   Setting pin as No Pull Creating Pin @   port = GPIOC   pin = 5 Servo thread object Estop pin Make eStop at pin PE_11 Creating a std module Creating Pin @   port = GPIOE   pin = 11 Servo thread object Make Blink at pin PA_8 Creating a std module Creating Pin @   port = GPIOA   pin = 8 Servo thread object Spindle PWM 0 Make PWM at pin PB_0 Creating a std module Creating Hardware PWM at pin PB_0 Creating Pin @   port = GPIOB   pin = 0 ## Entering START state Starting the BASE thread Registering interrupt for interrupt number = 24     power on Timer 9 Starting the SERVO thread Registering interrupt for interrupt number = 25     power on Timer 10 ## Entering IDLE state Here is output on UART from remora firmware Edit: Launched linuxcnc on terminal, getting "bad spi payload" (Bad SPI payload = 32393a38)