Remora PRU - Programmable Realtime Unit ## Entering SETUP state 1. Reading json configuration file Mounting the filesystem... OK Opening "/fs/config.txt"... OK Json config file lenght = 723 Closing "/fs/config.txt"... 2. Setting up DMA and threads Creating thread 40000 Creating thread 1000 3. Parsing json configuration file Config deserialisation - Deserialization succeeded Servo thread object Reset pin Make Reset Pin at pin 1.31 Creating a std module Creating Pin @ portNumber = 1 pin = 31 Base thread object X - Joint 0 step generator Creating a std module Creating Pin @ portNumber = 2 pin = 1 Creating Pin @ portNumber = 2 pin = 2 Creating Pin @ portNumber = 2 pin = 6 Base thread object Y - Joint 1 step generator Creating a std module Creating Pin @ portNumber = 2 pin = 8 Creating Pin @ portNumber = 0 pin = 19 Creating Pin @ portNumber = 0 pin = 20 Base thread object Z - Joint 2 step generator Creating a std module Creating Pin @ portNumber = 0 pin = 21 Creating Pin @ portNumber = 0 pin = 22 Creating Pin @ portNumber = 2 pin = 11 ## Entering START state Starting the BASE thread Registering interrupt for interrupt number = 1 power on timer timer set MCR timer set PR timer set PRO timer start Starting the SERVO thread Registering interrupt for interrupt number = 2 power on timer timer set MCR timer set PR timer set PRO timer start ## Entering IDLE state