I'm not knocking your cpu... just thinking out "loud" because i can easily scoop a variety of freescale CPU's from work and have sources for cheap boards and whatnot... i am getting pretty interested in messing with this stuff... just busy at home right now. I will keep inputting on your project as i can... don't back up and start over on my account, do what you're doing and when i can, i'll try to give you more solid additions, like control loops and "fake realtime" code structure... they'll help, but you don't need them right now. It looks like you're doing an awesome job and your biggest hurdle is definately hardware IMO...
