module␍␊
␍␊
Remora PRU - Programmable Realtime Unit ␍␊
␍␊
 Mbed-OS6 ␍␊
␍␊
 Remora-spi Driver ␍␊
␍␊
## Entering SETUP state␍␊
1. Reading json configuration file␍␊
Mounting the filesystem... OK␍␊
Opening "/fs/config.txt"... OK␍␊
Json config file lenght = 762␍␊
␍Closing "/fs/config.txt"... ␍␊
2. Setting up DMA and threads␍␊
Initialising SPI1 slave␍␊
Initialising DMA for SPI␍␊
␍␊
3. Parsing json configuration file␍␊
Config deserialisation - Deserialization succeeded␍␊
␍␊
4. Config threads␍␊
Creating thread 40000␍␊
Creating thread 1000␍␊
Creating thread 57600␍␊
␍␊
5. Loading modules␍␊
␍␊
Servo thread object␍␊
Reset pin␍␊
Make Reset Pin at pin PC_15␍␊
␍␊
Creating a std module␍␊
Creating Pin @␍␊
  port = GPIOC␍␊
  pin = 15␍␊
␍␊
Base thread object␍␊
X - Joint 0 step generator␍␊
␍␊
Creating a std module␍␊
Creating Pin @␍␊
  port = GPIOF␍␊
  pin = 14␍␊
Creating Pin @␍␊
  port = GPIOF␍␊
  pin = 13␍␊
Creating Pin @␍␊
  port = GPIOF␍␊
  pin = 12␍␊
␍␊
Base thread object␍␊
Y - Joint 1 step generator␍␊
␍␊
Creating a std module␍␊
Creating Pin @␍␊
  port = GPIOF␍␊
  pin = 15␍␊
Creating Pin @␍␊
  port = GPIOG␍␊
  pin = 0␍␊
Creating Pin @␍␊
  port = GPIOG␍␊
  pin = 1␍␊
␍␊
Base thread object␍␊
Z - Joint 2 step generator␍␊
␍␊
Creating a std module␍␊
Creating Pin @␍␊
  port = GPIOG␍␊
  pin = 5␍␊
Creating Pin @␍␊
  port = GPIOF␍␊
  pin = 11␍␊
Creating Pin @␍␊
  port = GPIOG␍␊
  pin = 3␍␊
␍␊
## Entering START state␍␊
␍␊
Starting the BASE thread␍␊
Registering interrupt for interrupt number = 24␍␊
⇥	power on Timer 9␍␊
␍␊
Starting the SERVO thread␍␊
Registering interrupt for interrupt number = 25␍␊
⇥	power on Timer 10␍␊
␊
## Entering ID