diff --git a/3.10/misc/motor/motor.c b/3.10/misc/motor/motor.c
index a4ddc2bd3..cb64150b5 100644
--- a/3.10/misc/motor/motor.c
+++ b/3.10/misc/motor/motor.c
@@ -260,26 +260,30 @@ static void motor_power_off(struct motor_device *mdev)
 }
 
 // motor_power_on re-enables motor GPIO pins as outputs
-// Called before motor movement to energize the coils
+// Called before motor movement to ensure initial state of the coils.
 static void motor_power_on(struct motor_device *mdev)
 {
 	int index;
 	int value;
+	int step;
 	struct motor_driver *motor = NULL;
 
-	value = ((0 ^ invert_gpio_dir) & 0x1);
-
 	for (index = 0; index < NUMBER_OF_MOTORS; index++) {
 		motor = &mdev->motors[index];
 
+		// apply torque, assuming cur_steps reflects actual position
+		step = motor->cur_steps % 8;
+		step = step < 0 ? step + 8 : step;
+		value = invert_gpio_dir ? (step_8[step] ^ 0xff) : step_8[step];
+
 		if (motor->pdata->motor_st1_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st1_gpio, value);
+			gpio_set_value(motor->pdata->motor_st1_gpio, value & 0x8);
 		if (motor->pdata->motor_st2_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st2_gpio, value);
+			gpio_set_value(motor->pdata->motor_st2_gpio, value & 0x4);
 		if (motor->pdata->motor_st3_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st3_gpio, value);
+			gpio_set_value(motor->pdata->motor_st3_gpio, value & 0x2);
 		if (motor->pdata->motor_st4_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st4_gpio, value);
+			gpio_set_value(motor->pdata->motor_st4_gpio, value & 0x1);
 	}
 }
 
@@ -312,29 +316,30 @@ static void motor_move_step(struct motor_device *mdev, int index)
 		step = motor->cur_steps % 8;
 		step = step < 0 ? step + 8 : step;
 
-	        value = (step_8[step] ^ 0xff);
+	    value = invert_gpio_dir ? (step_8[step] ^ 0xff) : step_8[step];
 
 		motor_set_direction(mdev, (index == PAN_MOTOR) ? MOTOR_MOVE_RIGHT_UP : MOTOR_MOVE_LEFT_DOWN);
 
 		if (motor->pdata->motor_st1_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st1_gpio, value & 0x8);
+			gpio_set_value(motor->pdata->motor_st1_gpio, value & 0x8);
 		if (motor->pdata->motor_st2_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st2_gpio, value & 0x4);
+			gpio_set_value(motor->pdata->motor_st2_gpio, value & 0x4);
 		if (motor->pdata->motor_st3_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st3_gpio, value & 0x2);
+			gpio_set_value(motor->pdata->motor_st3_gpio, value & 0x2);
 		if (motor->pdata->motor_st4_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st4_gpio, value & 0x1);
+			gpio_set_value(motor->pdata->motor_st4_gpio, value & 0x1);
 	} else {
-		value = ((0 ^ invert_gpio_dir) & 0x1);
+		// power off the coils
+		value = invert_gpio_dir ? 1 : 0;
 
 		if (motor->pdata->motor_st1_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st1_gpio, value);
+			gpio_set_value(motor->pdata->motor_st1_gpio, value);
 		if (motor->pdata->motor_st2_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st2_gpio, value);
+			gpio_set_value(motor->pdata->motor_st2_gpio, value);
 		if (motor->pdata->motor_st3_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st3_gpio, value);
+			gpio_set_value(motor->pdata->motor_st3_gpio, value);
 		if (motor->pdata->motor_st4_gpio != -1)
-			gpio_direction_output(motor->pdata->motor_st4_gpio, value);
+			gpio_set_value(motor->pdata->motor_st4_gpio, value);
 	}
 
 	if (motor->state == MOTOR_OPS_RESET) {
@@ -519,12 +524,12 @@ static long motor_ops_move(struct motor_device *mdev, int x, int y)
 		return 0;
 	}
 
-	/* Enable motor GPIO outputs before movement */
-	motor_power_on(mdev);
-
 	mutex_lock(&mdev->dev_mutex);
 	spin_lock_irqsave(&mdev->slock, flags);
 
+	/* Enable motor GPIO outputs before movement */
+	motor_power_on(mdev);
+
 	calc_slow_mode(mdev, x1);
 
 	mdev->counter = 0;
@@ -642,12 +647,12 @@ static long motor_ops_cruise(struct motor_device *mdev)
 
 	motor_ops_goback(mdev);
 
-	/* Enable motor GPIO outputs before cruise */
-	motor_power_on(mdev);
-
 	mutex_lock(&mdev->dev_mutex);
 	spin_lock_irqsave(&mdev->slock, flags);
 
+	/* Enable motor GPIO outputs before cruise */
+	motor_power_on(mdev);
+
 	mdev->dev_state = MOTOR_OPS_CRUISE;
 	motors[PAN_MOTOR].state = MOTOR_OPS_CRUISE;
 	motors[TILT_MOTOR].state = MOTOR_OPS_CRUISE;
@@ -724,12 +729,12 @@ static long motor_ops_reset(struct motor_device *mdev, struct motor_reset_data *
 		mutex_unlock(&mdev->dev_mutex);
 	} else {
 		/* driver calculate max steps. */
-		/* Enable motor GPIO outputs before reset/homing */
-		motor_power_on(mdev);
-
 		mutex_lock(&mdev->dev_mutex);
 		spin_lock_irqsave(&mdev->slock, flags);
 
+		/* Enable motor GPIO outputs before reset/homing */
+		motor_power_on(mdev);
+
 		for (index = 0; index < NUMBER_OF_MOTORS; index++) {
 			struct motor_driver *drv = &mdev->motors[index];
 			int half = drv->max_steps > 0 ? drv->max_steps / 2 : 0;