Opening "/fs/config.txt"... OK [14:10:43:721] Json config file lenght = 753 [14:10:43:721] [14:10:43:721] Closing "/fs/config.txt"... [14:10:43:721] 2. Setting up DMA and threads [14:10:43:721] Initialising SPI1 slave [14:10:43:721] Initialising DMA for SPI [14:10:43:721] [14:10:43:721] 3. Parsing json configuration file [14:10:43:721] Config deserialisation - Deserialization succeeded [14:10:43:721] [14:10:43:721] 4. Config threads [14:10:43:721] Creating thread 40000 [14:10:43:721] Creating thread 1000 [14:10:43:721] Creating thread 57600 [14:10:43:721] [14:10:43:721] 5. Loading modules [14:10:43:721] [14:10:43:721] Servo thread object [14:10:43:721] Reset pin [14:10:43:721] Make Reset Pin at pin PE_8 [14:10:43:721] [14:10:43:721] Creating a std module [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOE [14:10:43:721] pin = 8 [14:10:43:721] [14:10:43:721] Base thread object [14:10:43:721] X - Joint 0 step generator [14:10:43:721] [14:10:43:721] Creating a std module [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOC [14:10:43:721] pin = 15 [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOC [14:10:43:721] pin = 14 [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOC [14:10:43:721] pin = 13 [14:10:43:721] [14:10:43:721] Base thread object [14:10:43:721] Y - Joint 1 step generator [14:10:43:721] [14:10:43:721] Creating a std module [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOC [14:10:43:721] pin = 15 [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOE [14:10:43:721] pin = 5 [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOE [14:10:43:721] pin = 4 [14:10:43:721] [14:10:43:721] Base thread object [14:10:43:721] Z - Joint 2 step generator [14:10:43:721] [14:10:43:721] Creating a std module [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOE [14:10:43:721] pin = 2 [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOE [14:10:43:721] pin = 1 [14:10:43:721] Creating Pin @ [14:10:43:721] port = GPIOE [14:10:43:721] pin = 0 [14:10:43:721] [14:10:43:721] ## Entering START state [14:10:43:721] [14:10:43:721] Starting the BASE thread [14:10:43:721] Registering interrupt for interrupt number = 24 [14:10:43:721] power on Timer 9 [14:10:43:721] [14:10:43:721] [14:10:43:721] Starting the SERVO thread [14:10:43:721] Registering interrupt for interrupt number = 25 [14:10:43:721] power on Timer 10 [14:10:43:721] [14:10:43:721] ## Entering IDLE state