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