Does the system continue to boot when you remove the USB device (printer in this case)?, I believe this is a known issue, but did not investigate at this point, the more important (and probably unrelated) issue seems:
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Computer freezing all the time when I try to compile/update ports...
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My first hunch would be a hardware issue.
You mentioned you ran memtest, how long did you run memtest? Make sure you run it for *at least* several hours. And if possible at least a day.
Detecting memory issues is not as easy at it might look at first glance (See the README in the
memtest86+ source package for details).
Another possibility is overheating, especially if the problem occurs when compiling stuff.
Getting the CPU/system temperature varies a bit from system to system, take a look at
coretemp(4) for Intel systems or
amdtemp(4) for AMD systems.
Posting your full dmesg may also help, so we know what system/cpu/chipset/etc. you're using.